Preheat oven to 400 degrees.
Arrange pears with cut side up in oven safe dish or cast iron skillet.
Mix balsamic vinegar and honey in a small bowl until combined. Then pour mixture over fruit.
Sprinkle with brown sugar and cinnamon.
Slice butter into 6 even pieces and place on top. Arrange rosemary around them.
Bake for 10 minutes, then flip them over and continue baking for additional 5 minutes.
Serve with honey and fresh rosemary.