Line two 15-in. x 10-in. x 1-in. baking pans with foil and coat with cooking spray. Add potatoes, carrots, turnip and onion; generously coat with cooking spray. Bake, uncovered, at 425° for 25-30 minutes or until tender.
Arrange ham slices over the vegetables. In a bowl, combine remaining ingredients. Spoon over ham and vegetables. Cover and bake 10 minutes longer or until the ham is heated through.