Heat oven to 425 F. Trim beets and scrub skins. Rub oil over beets and place in a roasting pan. Roast at 425 F for 1 hour, or until just tender when pierced.
Whisk together vinegar, mustard, honey, salt and pepper. While whisking, add oil in a thin stream.
Once beets have roasted, remove from oven and cool until you can comfortably handle them. Wrap your hands in plastic, if desired, then cut a thin amount off top of each beet, as well as any extra root. Slip skins from beets, or use a peeler for tougher skin. Cut each beet in half, then each half into 4 wedges. Place wedges in a medium-size bowl and toss with 1/4 teaspoon salt and 1/8 teaspoon pepper and 2 tablespoons of the dressing.
Toss greens, endive and remaining dressing in a large bowl. Top with beets, goat cheese and walnuts.