Preheat the oven: Preheat your oven to 400°F and line a rimmed baking sheet with parchment paper.

Roast the tomatoes and garlic: Place the halved plum tomatoes and whole garlic cloves on the baking sheet. Drizzle with the olive oil, sprinkle with the kosher salt and black pepper, and toss to coat. Arrange the tomatoes cut-side up and roast for 25 to 30 minutes until collapsed and caramelized.

Cook the pasta: Add the fusilli to the boiling water and cook according to the package directions until tender.

Mash the roasted vegetables: When the tomatoes and garlic are done roasting, transfer them along with all their pan juices into a large serving bowl. Use a fork to mash the soft garlic cloves and break up the tomatoes into a chunky sauce.

Reserve pasta water: Before draining the pasta, carefully scoop out and reserve about 1/2 cup of the starchy pasta water.

Drain the pasta: Drain the cooked fusilli in a colander, shaking off the excess water.

Toss the pasta and sauce: Add the drained pasta to the serving bowl with the mashed tomatoes. Pour in the balsamic vinegar and a splash of the reserved pasta water, tossing well to combine.

Finish the dish: Stir the chopped fresh basil and grated parmesan cheese into the warm pasta.

Serve: Serve immediately right from the bowl, offering extra black pepper and parmesan at the table.