Step 1: Preheat oven to 350 degrees F.
Step 2: Spray large dutch oven or oven-proof pot with nonstick spray and set over medium high heat.
Step 3: Sprinkle lamb with rosemary, 1/2 teaspoons salt and 1/4 teaspoon pepper and add to dutch oven and cook until browned on all sides - (under 10 minutes). Transfer to a plate.
Step 4: Spray dutch oven with cooking spray again and dd vegetables (onion-carrot) and cook stirring until onion is softened (5 minutes). Add mushrooms and cook until softened - under 5 minutes. Stir in tomato paste and then the tomatoes, broth, orange zest, and remaining rosemary (1 teaspoon), 1/2 teaspoon salt, and 1/4 teaspoon pepper and bring to a simmer.
Step 5: Return lamb to the pot; cover and put in oven. Cook until roast registers 145 degrees F on a meat thermometer for medium (50-60 minutes). Transfer to cutting board and let stand 10 minutes.
Step 6: Meanwhile whisk together the water and cornstarch in a cup until smooth. Add to pot and simmer until liquid bubbles and is thickened - about 2 minutes.
Step 7: Cut lamb into 10 slices and arrange on a platter. Spoon sauce with vegetables over the lamb. Serve any remaining sauce separately.
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