In a medium saucepan over medium-low heat, heat the jam until melted, about 2 minutes.
Transfer the jam to a large baking dish. Add the olive oil, mustard, honey, soy sauce, orange zest, crushed garlic, rosemary, 3/4 teaspoon salt and some pepper and mix until combined. Season the chicken with additional salt and pepper and add to the marinade. Gently flip until mixed and coated. Marinate in the refrigerator for at least 20 minutes or overnight.
Preheat the oven to 375 degrees F.
Bake until the chicken is cooked through and the juices run clear, about 30 minutes. Garnish with orange wedges if desired.