Pat the duck legs dry with paper towels. Season generously with salt and pepper. Let rest for 15 minutes.
In a small bowl, whisk together the honey, soy sauce, freshly squeezed orange juice, and minced garlic to create the glaze.
Heat olive oil in a large skillet over medium-high heat. Sear the duck legs, skin-side down, until golden brown and crispy. Flip and sear the other side.
Transfer the duck legs to a baking dish. Brush generously with the honey glaze and tuck the rosemary sprigs around the legs.
Bake in a preheated oven at 350°F (180°C) for 40-50 minutes, basting with the rendered fat every 10-15 minutes to keep them moist and flavorful.
Once the duck skin is crispy and the meat is tender, remove from the oven. Serve immediately with steamed vegetables or mashed potatoes.
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