Preheat oven to 375 °F.
Roll cut carrots into bite sized pieces. Roll cutting is a technique where you cut a small piece at an 45 degree angle - or thereabouts. Roll the carrot a quarter turn and cut off another piece at an angle. Keep doing this until you reach the end. I leave the leaf end attached to hold on to and just waste that as the last piece. You wind up with a bunch of chunky pieces that don't just lie flat. This gives them lots of exposed surface area to caramelize as they roast.
Put the carrot piece in a bowl and add the rest of the ingredients. Mix well. You can prep to this stage and put aside for a bit while you prep more of dinner.
Line a baking sheet with parchment or SilPat - balsamic has a lot of sugars and will tend to burn, this makes clean up much easier! If you don't use a pan liner, drizzle the pan with a little more oil. Spread the carrot pieces out into a single layer. Don't just dump the whole mess on the pan, you want as little of the marinade as possible. A bigger pan is better than a smaller one so you can spread things out. This will allow for better caramelization.
Put this in your preheated oven and bake for 15-20 minutes. Time will depend on on the size of the pieces and how soft you like your carrots. I like a little crunch still left, so I go shorter on the time. I just set my timer for the lower time and check - if they aren't done to my liking, I add a few more minutes.