Heat a large nonstick skillet over medium-high heat. Coat pan with cooking spray. Combine rosemary, salt, and 1/4 teaspoon pepper in a small bowl, stirring well. Rub spice mixture evenly over both sides of lamb. Add lamb to pan; cook 5 minutes on each side. Remove lamb from pan. Wipe pan clean with paper towels.
Return pan to medium heat; recoat with cooking spray. Add garlic to pan; cook 30 seconds. Add remaining 1/4 teaspoon pepper and broth; cook 1 minute, scraping pan to loosen browned bits. Stir in preserves and vinegar; cook 3 minutes or until slightly thick. Return lamb to pan; turn to coat. Cook 1 minute or until desired degree of doneness. Garnish with parsley sprigs, if desired.