1. Preheat oven to 400 degrees Fahrenheit.
2. Place cauliflower in a baking pan, making sure not to overcrowd.
3. In a small bowl, whisk remaining ingredients except peanuts. Pour over florets and stir.
4. Bake uncovered for 25 minutes or until edges are browning, stirring midway.
5. Sprinkle peanuts over cauliflower and serve immediately.