Wash the kumara, cut into slices and dry them well. Toss in the canola oil and cook on a barbecue at a medium heat for 20-25 minutes, turning them occasionally until they are soft when pierced with a knife.
Whisk together the vinegar, mustard, garlic, salt and honey. While still whisking, slowly pour in the oil. Keep whisking until the mixture is well combined and thick in consistency.
In a medium-sized frying pan, fry the bacon until it is crisp and drain it on paper towels. Chop the bacon roughly and set it aside. Pick the parsley leaves off the stalks, discard the stalks and chop the leaves finely.
Toss the kumara in the mustard and vinaigrette mixture. Add the bacon and parsley and mix through.