Preheat oven to 325°F (160°C).
Place ham in a baking dish.
In a small bowl, combine marmalade, zest, orange juice, lemon juice, mustard, sugar, and cloves. Spread about half of the mixture on top of the ham. Reserve the remaining glaze.
Tuck rosemary sprigs around ham. Slice second orange into wedges and tuck wedges alongside ham.
Cover ham and bake for about 25 minutes.
Uncover ham, spread remaining glaze over top, and bake (uncovered) for an additional 20-30 minutes. Do not overcook.
Before serving, rest the meat for 10-15 minutes, remove rosemary sprigs and orange slices. Spoon remaining glaze from the pan over individual ham slices for serving, if desired.