Preheat oven to 375 degrees. Coat small roasting pan or cookie sheet with aluminum foil and lightly spray with nonstick cooking spray. Place roast onto prepared pan and sprinkle generously with salt and pepper.
In a small bowl, stir dijon mustard together with maple syrup, rosemary and more salt and pepper. Rub half of this mixture onto the meat. Bake for 1-1 1/2 hours or until meat reaches an internal temperature of 145-150 degrees. Remove from oven, cover with foil and rest 10 minutes before slicing. Serve with remaining sauce.