Preheat the oven to 425°F. Line a baking sheet with parchment paper.
Place the carrots in a large bowl.
In a small bowl, whisk together the balsamic vinegar, honey, olive oil, garlic, salt, and pepper.
Pour half of the balsamic mixture over the carrots and toss to coat.
Spread the carrots in an even layer on the prepared baking sheet.
Bake for 20 minutes, then brush with some of the reserved balsamic mixture. Continue baking for 20-25 more minutes, or until the carrots are tender.
Drizzle any remaining balsamic mixture over the carrots.
Garnish with parsley and serve.