PREHEAT oven to 325° F.
REMOVE beet greens and clean beets. Wrap individually in foil. Place on baking sheet. Bake for 1 hour or until tender.
ROLL goat cheese in thyme and marjoram until completely coated.
COMBINE oil, vinegar, shallots, mustard, salt and pepper in small bowl. Set aside.
REMOVE beets from foil. Peel and cut into quarters. Arange beets on salad plates. Drizzle with one-third of dressing.
SLICE cheese in thick medallions; arrange next to beets on plates.
TOSS arugula with remaining dressing and mound in center of plates. Sprinkle with walnuts.