Preheat oven to 400°F. Line baking sheet with parchment paper.
Wash potatoes under running water with a vegetable brush and then wipe dry with paper towels. Cut potatoes in half.
In a small bowl, combine the potatoes, 2 tablespoons oil, rosemary and garlic; toss to coat. Transfer to prepared pan and roast for 20 minutes, stirring once.
Drizzle asparagus with remaining oil; add to the pan. Roast 10-15 minutes longer or until vegetables are tender, stirring occasionally. Season with salt and pepper.