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Preheat oven to 400 degrees F. Remove any stems from the carrots and peel them.
Transfer the carrots to a baking dish. Sprinkle with avocado oil, then sprinkle with smoked paprika, cumin, cinnamon, black pepper, ginger, salt, cloves, and cayenne (if using).
Roast in the preheated oven for 20-25 minutes for baby carrots or small garden carrots, and 30-35 minutes for large store-bought carrots. They should be fork tender when done cooking.
While the carrots and roasting, stir together all ingredients for the yogurt sauce in a bowl.
Once the carrots are done, you can serve them over the yogurt sauce or serve with the yogurt sauce on the side to dip in. I like to sprinkle with some more cilantro and some red pepper flakes for garnish.