1. Preheat oven to 425° F. In a shallow pan, toss potatoes and carrots with oil, salt and pepper. Peel the garlic heads and remove the cloves, and nestle the garlic amongst the vegetables and scatter the rosemary on top. Arrange the chicken pieces among the vegetables and bake uncovered for 30 minutes.
2. Stir together the mustard and honey, and spread over chicken. Stir vegetables, return chicken to pan, place back into the oven and bake 10-20 minutes, until chicken is cooked and vegetables are tender. Scatter the remaining garlic (or to taste) over the remaining contents of the pan.
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