In a bowl, whisk together the honey, whole grain Dijon mustard, regular Dijon mustard, apple cider vinegar, soy sauce, garlic, salt, pepper, and chicken broth until thoroughly combined.
Add the chicken breasts to the mixture, ensuring each piece is well-coated.
Arrange the chicken in a baking dish in a single layer, and tuck the rosemary sprigs between the chicken pieces.
Cooking
Place the baking dish in the oven and bake for 25 to 35 minutes, or until the chicken is cooked through and reaches an internal temperature of 165°F (75°C).
Remove from the oven and drizzle the chicken with the sauce from the baking dish before serving.
Notes
For best results, marinate the chicken for a few hours or overnight. Serve with rice, roasted vegetables, or a fresh salad. If using skin-on chicken, it may take a bit longer to cook.