If not already cooked, cook lentils according to package instructions. Drain and set aside.
Preheat oven to 400°F. Toss sliced carrots with 1 tbsp. olive oil, salt, and pepper. Spread on a baking sheet and roast for 20–25 minutes, until tender and lightly caramelized.
In a frying pan, sauté onion, in 1 tblsp. olive oil, for 3 to 4 minutes until onion is translucent. Add lentils and mix well.
In a small bowl, whisk together olive oil, lemon juice, tahini, water, maple syrup, garlic, salt, and pepper.
In a large bowl, combine warm roasted carrots and lentils.
Toss with dressing, parsley, and any additional herbs. Salt and pepper, to taste.
Serve warm or at room temperature.