Preheat the oven to 375°F.
Cut the 3 lbs red-skinned potatoes into uniform pieces: quarter large potatoes or halve small ones so all pieces are a similar size. Pat the cut potatoes dry with a clean towel or paper towels.
Zest the 1 lemon and set aside a small amount of the zest for garnish if you like. Use the remaining lemon zest in the next step.
Strip the leaves from the 3 sprigs of fresh rosemary and finely chop the leaves.
In a large bowl, combine the potatoes with 1/4 cup olive oil, the 6 cloves minced garlic, the chopped rosemary leaves, the lemon zest (keeping the reserved bit separate), 1 tablespoon sea salt, and 1 teaspoon freshly ground black pepper. Toss until all pieces are thoroughly coated.
Arrange the coated potatoes in a single layer on a baking sheet (do not overcrowd).
Roast in the preheated oven for 35 to 40 minutes, until the potatoes are tender inside and crispy on the outside. About halfway through cooking (around 18–20 minutes), shake the baking sheet or use a spatula to turn the potatoes so they brown evenly.
If you prefer extra-crispy potatoes, roast an additional 15 minutes after the initial 35–40 minutes.
Remove the potatoes from the oven, transfer to a serving dish, sprinkle with the reserved lemon zest if desired, and garnish with freshly grated Parmesan cheese before serving.