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Preheat oven to 200°C and spray an oven-proof dish with oil.
Bring a pot of water to the boil, add a large pinch of salt and cook pasta according to the packet instructions. Add cauliflower in last two mins of cooking. Reserve ½ cup of pasta water, then drain.
At the same time, heat a non-stick saucepan over medium-high heat. Add onion, garlic and bacon and cook for 5-7 mins to caramelise.
Add flour and mustard and cook, stirring for a minute to combine.
Whisking constantly, gradually add milk and rosemary and continue to whisk for 5 mins or until the sauce is smooth and thickened. Adjust seasoning.
Add drained pasta and cauliflower, parmesan and two thirds of the cheddar cheese (reserve remainder for the topping) and stir well to combine. (You may need to add a little of the reserved pasta water if too thick.) Adjust seasonings and transfer to a heat proof dish.
In a small bowl, combine remaining cheese, breadcrumbs and hazelnuts, season with salt and pepper and scatter over pasta.
Bake for 15-20 mins or until golden and bubbling.
Garnish with extra fresh rosemary.