PREHEAT OVEN to 425 degrees F. Set rack at center. Line half-sheet pan with foil.
PREP THE PORK: Pat pork dry with paper towels. Remove silver skin if needed. Spread the mustard evenly over the pork tenderloin. Sprinkle all over with ½ teaspoon salt, ¼ teaspoon pepper, and rosemary. Press the salt, pepper, and rosemary into the meat with your fingers. Add the seasoned tenderloin to the half-sheet pan up against one long side.
PREP THE VEGETABLES: Mix together in a large bowl the Brussels sprouts, potatoes, olive oil, garlic, and lemon zest, along with ½ teaspoon salt and ¼ teaspoon pepper. Turn the vegetables out onto the sheet pan and spread out evenly. For crispier vegetables, arrange cut-side down on the pan.
ROAST for 30-35 minutes or until vegetables are crispy-tender and instant read thermometer in pork tenderloin reads at least 140 degrees for a rosy center. (145 -- the USDA safe cooking temp for pork -- is for medium, which will rise to 150 while resting. I like mine a bit pinker-juicier than that.) Remove from oven (turn oven off) and sprinkle vegetables with the grated Parmigiano-Reggiano. Place tenderloin on a cutting board, tent and rest 10 minutes, returning vegetables to oven to keep warm. Slice meat thinly, stir the vegetables, and serve together while hot or warm. Leftovers will keep well-covered for 3-4 days in the fridge. You can freeze the pork tenderloin for 2-3 months, thawing wrapped meat overnight in the fridge before serving.