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For the roasted vegetables. Preheat the oven to 425 degrees F. In a large bowl, toss together the carrots, parsnips, and sweet potatoes with the olive oil, balsamic vinegar, salt, and pepper until well-coated.
Place the vegetables on a baking sheet (lined with aluminum foil for easy clean-up) in a single layer and then cover the top of the baking sheet with aluminum foil.
Roast for 20 minutes before removing the foil. Give the vegetables a stir and flip, then bake for another 10-15 minutes, until lightly browned and tender.
For the pesto. As the vegetables roast, add the basil, almonds, garlic, lemon juice, salt, pepper, and 2 tablespoons of olive oil into a food processor (or blender ***see third note). Pulse several times, until a paste forms.
With the food processor running, slowly add in olive oil until you get your desired consistency. Taste and adjust ingredient amounts according to your preferences.
Put it together. Plate and drizzle the vegetables with your desired amount of pesto. Best served immediately.