Boil first 4 ingredients in a medium saucepan over medium heat, stirring often, 4 to 5 minutes or until smooth. Reduce heat to low, and simmer, stirring occasionally, 20 minutes or until liquid is reduced by half and slightly thickened.
Add rosemary; cover and let stand 5 minutes. Discard rosemary. Cool mixture 30 minutes. Cover and chill 1 hour. Store in an airtight container in refrigerator up to 1 week.