Preheat oven to 450 degrees F (230 degrees C). Line a baking sheet with aluminum foil and grease with cooking spray.
Combine olive oil, garlic, salt, and pepper in a bowl. Add cauliflower, tomatoes, and garbanzo beans; toss until well coated. Spread in a single layer on the prepared baking sheet. Add lime wedges.
Roast in the preheated oven until vegetables are caramelized, about 25 minutes. Remove lime wedges and top with fresh cilantro.