Cook and stir bacon in large ovenproof Dutch oven on medium-high heat 5 min. (Bacon will not be done.) Add roast to pan; season with pepper. Cook 3 to 4 min. or until evenly browned on all sides, turning occasionally. Remove roast from pan, reserving bacon and drippings in pan; set roast aside. Add vegetables and rosemary to ingredients in pan; cook 5 min., stirring frequently. Add milk; stir. Bring to boil, stirring constantly. Return roast to pan; cover.
Bake 1 hour to 1 hour 10 min. or until roast is done (145ºF), turning roast after 30 min. Remove pan from oven. Transfer roast to cutting board; cover loosely with foil. Let stand 10 min.
Remove and discard rosemary stems from vegetable mixture in pan. Spoon half the vegetables into blender; blend until smooth. Return to pan; mix well. Bring to boil on medium heat, stirring frequently. Add pasta sauce; mix well. Cook 8 to 10 min. or until heated through, stirring occasionally.
Slice roast. Serve with vegetable mixture.