Pork Medallions with Balsamic-Honey Glaze

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For the balsamic-honey glaze:

4 cloves garlic, finely chopped

1 tablespoon chopped fresh rosemary, plus rosemary branches for garnish

1/2 cup balsamic vinegar

3 tablespoons honey

2 tablespoons olive oil

1 tablespoons Dijon mustard

Salt and freshly ground black pepper

For the pork:

1 3/4 to 2 pounds pork tenderloin

Canola oil, for searing