Preheat the oven to 400 degrees F.  Rinse Brussels sprouts and peel off any yellow or loose pieces.  Trim off the ends and cut the sprouts in half.  Toss Brussels sprouts with olive oil and spread onto a baking sheet sprayed or rubbed with olive oil. Drizzle sprouts with balsamic vinegar and season with coarse salt and pepper.  Roast for 35-40 minutes until nice and golden brown and crispy on the outside, stirring occasionally to cook evenly on all sides.