Using a knife, cut off the peel and white pith from the orange and lemon. Dice the zests. Chop the flesh of the citrus fruits and set aside. In a saucepan, cover the zest with cold water. Bring to a boil and simmer for about 6 minutes. Strain off the water and return the zest to the pot with the measured water and sugar.
Simmer gently until the liquid evaporates.
In a bowl, combine the candied zest, breadcrumbs, 1 clove garlic, oil, egg and rosemary. Season with salt and pepper. Set aside.
Preheat the oven to 190 °C (375 °F).
In the bottom of a roasting pan, spread the citrus flesh, stock and remaining clove of garlic. Place the rack on top and then the leg flat on it. Press the breading on the meat.
Cook for approximately 35 minutes or until the meat thermometer reads 60 °C (140 °F). After it is cooked, cover the meat with foil and let rest 10 minutes before slicing.
Pour the cooking juices into a saucepan and add the rosemary. Simmer gently for a few minutes and strain. Adjust seasoning.
Place the asparagus on a baking sheet. Sprinkle with a little oil. Season salt and pepper. Brown under the broiler for a few minutes, stirring once during cooking.
Polenta (to be prepared 25 minutes before the end of cooking the lamb)
In a saucepan, cook the cornmeal and milk over medium-low heat, stirring constantly, 15 to 20 minutes. Add the cheeses and cook until melted. Season with nutmeg, salt and pepper.
Place the polenta in the centre of the plate. Position 4 asparagus spears in a star-shape pattern and place 3 to 4 slices of lamb on top. Drizzle with cooking juices.
Recipes with the "Healthy Pick" stamp have been evaluated by a registered dietitian member of the Ordre professionnel des diététistes du Québec.