If you like, add grilled chicken to make this rainbow-colored salad a main dish.
Place halved beets in a single layer in a shallow baking pan. Drizzle with the olive oil; toss to coat. Cover with foil and roast in a 425° oven for 25 minutes. Uncover and roast about 15 minutes more or until fork-tender. Cool; peel and slice 1/4-inch thick. Set aside.
Arrange arugula on 4 salad plates. Top with beets and crumbled goat cheese. Drizzle with half of the Lemon Vinaigrette. Sprinkle with walnuts. Serve immediately, passing remaining vinaigrette.
In small screw-top jar combine olive oil, finely shredded lemon peel, lemon juice, garlic, sugar, salt, and ground black pepper. Cover; shake well.