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Wash cauliflower heads. Remove leaves and woody stems. Leave heads whole. In a covered Dutch oven, cook one of the cauliflower heads in a small amount of boiling water for 3 minutes. Remove cauliflower; drain well. Repeat with the remaining cauliflower head. Let cauliflower stand until cool enough to handle.
Place one holding fork on the spit rod, tines toward point. Carefully insert rod through the stem end of one whole cauliflower head, pressing tines of holding fork firmly into the cauliflower. Insert rod into the second cauliflower head. Place a second holding fork on rod, tines toward the second cauliflower head; press tines of holding fork firmly into cauliflower. Adjust forks; tighten screws. Test balance, making adjustments as necessary.
Combine oil, vinegar, marjoram, pepper and salt in a small bowl; mix well.
For a charcoal grill, attach spit over medium coals; turn on the motor and lower the grill hood. Let the cauliflower rotate for 25 to 30 minutes or until tender, basting frequently with oil mixture. (For a gas grill, preheat grill. Reduce heat to medium. Grill as above.)
Carefully remove cauliflower from spit. Brush with the remaining oil mixture; sprinkle with Parmesan cheese. Serve immediately. If desired, garnish with fresh rosemary.