Heat 1 tbsp oil in a large frying pan over a medium heat. Add the sausages, shallots and rosemary. Fry for 10 minutes, stirring regularly, until golden.
Pour in the stock, honey and mustard and simmer for 10 minutes more until the sausages are cooked through with no pink remaining in the middle, and the sauce is sticky.
Meanwhile heat the remaining 1 tbsp oil in a large lidded saucepan over a medium heat. Halve the cauliflower and cut out and discard the core. Slice the cauliflower quite finely and add to the pan with the garlic. Season and cook for 5 minutes, stirring occasionally then cover and cook for another 10 minutes until completely tender.
Uncover the cauliflower, add the milk and cook for another 5 minutes. Tip into a food processor and whizz until smooth. Season with black pepper.
Serve the sausages with the cauliflower mash and shallot gravy, accompanied by some greens and garnished with parsley.