Preheat oven to 425 F.
Prepare glaze by combining in small saucepan the marmalade, orange juice, vinegar, stock, garlic, rosemary, crushed red pepper flakes, salt and pepper. Bring to a boil over high heat; reduce heat and simmer for 5 minutes. Remove pan from heat. Pour 1/4 cup of the sauce into a small bowl and reserve. Pour remaining sauce into pitcher or serving bowl for passing at the table.
Heat olive oil in large oven-proof skillet over medium-high heat. In small bowl, combine rosemary leaves, parsley, orange zest, salt and pepper; rub all over chicken breasts. Place chicken, skin-side down, in skillet and brown, about 4 minutes. Remove chicken from skillet. Place rosemary branches in pan and place chicken breasts, skin-side up, on top of the rosemary branches. Place in hot oven and roast 15 – 20 minutes, brushing chicken breasts with ¼ cup of glaze several times during the last 10 minutes of cooking.