Trim onion both the root and stem sides of the onion. Be sure to leave the root intact (cut so that the dried brown roots are cut off and only a white nub remains).
Peel onions. Place onion with the cut side down on a cutting board and cut into wedges.
Place onions onto a baking pan. Set aside.
In a medium bowl, combine olive oil, lemon juice, mustard, garlic, rosemary, salt and pepper. Whisk until well combined.
Pour the dressing over the onions and toss well. You can use spoons, but I think hands are the perfect tool for this job.
Bake onions for 30 to 45 minutes, until tender and browned. Toss the onions once during cooking.
Remove from the oven, toss again, and transfer to a serving bowl.