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Preheat oven to 425°F. Coat a 3-quart rectangular baking dish with cooking spray. Arrange carrots and beets in a single layer in the prepared dish. Coat the vegetables with cooking spray and sprinkle with the salt and pepper. Toss to coat.
Cover with foil and roast for 20 minutes. Carefully uncover and stir in shallots. Replace cover and roast for 15 minutes more. Uncover and roast for 10 to 15 minutes more or until carrots and beets are tender. Add butter, orange peel, orange juice, and maple syrup to the dish. Toss vegetable mixture until butter is melted and vegetables are nicely coated. Serve warm.