Preheat oven to 425 degrees F. Line a shallow roasting pan with foil. Place carrots, red sweet peppers, shallots, and garlic in prepared pan. Drizzle with olive oil and sprinkle with black pepper and salt. Cover with foil.
Roast for 20 minutes. Uncover and stir vegetables. Roast, uncovered, for 20 to 25 minutes more or until vegetables are tender and lightly browned. Cool slightly on a wire rack.
Transfer vegetable mixture to a food processor. Add vinegar and the 1 teaspoon rosemary. Cover and process until smooth. If desired, garnish with rosemary sprigs and serve with crackers and/or vegetable dippers.