Preheat your oven to 400°F (200°C).
In a small bowl, whisk together balsamic vinegar, honey, minced garlic, olive oil, salt, and pepper.
Place chicken breasts in a baking dish.
Pour the balsamic mixture over the chicken, ensuring they're well coated.
Bake in the preheated oven for 20 minutes or until the chicken is cooked through.
Baste the chicken with the sauce halfway through cooking.
Once cooked, remove from the oven and let it rest for 5 minutes.
Slice the chicken and drizzle with remaining sauce.
Garnish with fresh rosemary.
Serve warm with your choice of sides.