Preheat oven to 375 degrees F (190 degrees C). Prepared a baking sheet with non-stick cooking spray.
Combine pumpkin, broccoli, beet, onion, sweet potato, and red potato in a large bowl.
Whisk olive oil, balsamic vinegar, honey, garlic, pepper, cloves, allspice, and sea salt together in a small bowl; pour over the vegetable mixture and toss to coat. Spread onto prepared baking sheet in a single layer.
Bake in preheated oven until all vegetables are tender, about 35 minutes.