Heat the milk in a large pan until just coming to the boil.
Carefully drop the prepared parsnips into the milk and allow them to cook for 2-3 minutes.
Take the parsnips off the heat and drain them well.
Tip the parsnips on to a roasting tray.
Sprinkle on some salt and pepper and drizzle the oil over the top to coat them.
Roast the parsnips in the oven for 25-30 minutes until they are crisp and golden on the outside and cooked through in the middle. Use a skewer or fork to test if the parsnips are soft enough to be cooked.
Drizzle the honey and sesame seeds over the parsnips in the last few minutes, and stir them around so that they get coated in the honey seed mixture.