In a medium saucepan, combine the water, sugar, and grated orange zest. Heat over medium heat, stirring until the sugar is completely dissolved.
If desired, add a sprig of fresh rosemary for a more aromatic flavor. Let the mixture steep for 5 minutes, then remove the rosemary sprig.
Allow the syrup to cool completely, then stir in the freshly squeezed orange juice.
Pour the mixture into a shallow dish and place it in the freezer.
Every 30 minutes, scrape the sorbet with a fork to create an icy, crystalline texture. Repeat this process 3-4 times, or until completely frozen.
Before serving, let the sorbet sit at room temperature for 5 minutes to soften slightly. Garnish with a fresh rosemary sprig and an orange slice.
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