In a small bowl, combine the potatoes, 2 tablespoons oil, rosemary and garlic; toss to coat. Transfer to a greased 15x10x1-in. baking pan. Roast at 400° for 20 minutes, stirring once.
Drizzle asparagus with remaining 2 tablespoons oil; add to the pan. Roast 15-20 minutes longer or until vegetables are tender, stirring occasionally. Sprinkle with salt and pepper.
