Preheat the oven to 400°F (200°C).
Chop the sweet potatoes and carrots into pieces about 3/4 to 1 inch thick, aiming for a uniform size. Place the vegetables in a large baking dish.
Add the minced garlic, olive oil, maple syrup, thyme, rosemary, cinnamon, and salt to the dish. Toss well to coat all the vegetables evenly with the oil and seasonings.
Bake in the preheated oven for 35 to 40 minutes, stirring halfway through the baking time. The vegetables should be caramelized, lightly browned, and easily pierced with a fork when done.
Remove from the oven and serve warm.