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Fully thaw your ham before cooking. Place the ham on a tray and thaw it in the refrigerator. Plan ahead since the half ham can take 2 to 3 days to thaw.
Preheat your oven to 325°F. Then remove the ham from the packaging and pat dry. Let it sit at room temp for 1 hour.
With a sharp knife, score the fat in a diamond patter (about ¼ inch deep). Then place the ham in a roasting pan with a rack and a bit of water in the bottom.
Bake the ham at 325°F for 1.5 to 2 hours, or until internal temperature reaches 120°F.
Once the ham reaches 120°F, begin basting with the glaze every 10 minutes for the next 30 to 45 minutes, or until the ham reaches an internal temperature of 140°F.
Pull the ham from the oven, cover loosely with foil and let it rest for 15 to 30 minutes.
When the internal temperature of the ham reaches about 100°F, combine the brown sugar, balsamic, maple syrup, Dijon mustard, black pepper, and orange zest together in a saucepan over medium heat.
Simmer for 6 to 8 minutes until thickened to a syrupy glaze and coats the back of a spoon. Then set aside and keep warm.