Preheat the oven to 400 degrees F. If you want to maintain the golden color of the beets, roast them whole. Scrub and trim them, brush each one with a little bit of olive oil, and wrap each one in aluminum foil. Place on the center rack of the oven and bake for 45-60 minutes. Remove from oven and open up the foil to let them cool, then use your fingers or a paper towel to remove the skin. If you don't care about the color and want the beets to cook faster, scrub, trim, and peel the beets then slice them into quarters. Toss the sliced beets in olive oil and transfer to a baking sheet lined with parchment paper. Bake for 25-35 minutes or until tender.
While the beets are roasting, whisk together the toasted sesame oil, olive oil, miso paste, maple syrup, apple cider vinegar, and mustard.
Serve the cooked beets with the sauce. Garnish with fresh herbs (like parsley) if desired, and enjoy!
Notes
Store leftovers in an airtight container in the fridge for up to 3 days. Enjoy cold or warm.
Miso can be found at health food stores and most large grocery stores, typically in the refrigerated condiment section by the salad dressings.