Heat oven to 400°F. In small bowl, mix parsley, basil, thyme, oregano and garlic; set aside.
Spray bottom of roasting pan with cooking spray. Place beef in pan; sprinkle with salt and pepper. Spread mustard evenly over beef; pat parsley mixture over mustard. Insert ovenproof meat thermometer so tip is in center of thickest part of beef.
Bake uncovered 35 to 45 minutes or until thermometer reads at least 140°F (for medium-rare doneness).
Place beef on cutting board. Cover loosely with foil; let stand 15 minutes or until thermometer reads 145°F. (Temperature will continue to rise about 5°F, and beef will be easier to carve.) Cut beef into 1/2-inch-thick slices.