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