Preheat oven to 450°. Season the lamb with salt and pepper and place in a medium roasting pan. Scatter onions and carrots around the meat and roast for 15 minutes. Reduce oven temperature to 325° and liberally brush lamb with approximately ½ c glaze, reserving remaining. Cook until an instant-read thermometer inserted in the thickest part of the lamb reaches 120°F, about 1 hour and 20 minutes.
Once lamb reaches 120°F, coat with additional glaze every 5-10 minutes, until an instant-read thermometer inserted in the thickest part of the meat registers 130°. Transfer the lamb to a cutting board and allow to rest for 20 minutes. To serve, slice lamb and serve with vegetables and remaining glaze, if desired.
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