Toss beets in olive oil and spread on a cookie sheet in a single layer. Bake for about 30 minutes, stirring often, until soft. Remove from oven, sprinkle with orange zest and cool.
In a small saucepot on medium heat, bring balsamic vinegar and honey to a boil. Boil for about 5 minutes, remove from heat, and cool.
Toss cooled beets with arugula and divide onto serving dishes. Drizzle with balsamic honey mix and sprinkle with goat cheese. Serve and enjoy!