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Preheat your oven to 400°F (200°C) and line a baking sheet with parchment paper.
Place the tomatoes, bell pepper, onion, zucchini, carrot, and garlic bulb on the prepared baking sheet. Drizzle with olive oil and sprinkle with salt.
Roast the vegetables in the preheated oven for 40 minutes, or until they are tender.
Meanwhile, cook the rotini pasta according to the package instructions until al dente. Drain and set aside.
Once the vegetables are roasted, remove the garlic bulb from the baking sheet and squeeze the softened cloves into a blender.
Add the roasted vegetables and milk to the blender and blend until smooth. You may need to do this in batches depending on the size of your blender.
Pour the blended veggie sauce into a saucepan and heat over medium heat until warmed through. Add the cooked pasta to the saucepan and toss until evenly coated with the sauce.
Serve the roasted hidden veggie pasta hot, garnished with freshly grated Parmesan cheese if desired.