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In a bowl or large Ziploc bag, whisk together teriyaki sauce, orange juice, brown sugar, and rosemary until blended. Add chicken; turn to coat. Refrigerate for about 1-2 hours (but not more than 4 hours).
Remove chicken from refrigerator 30 minutes before baking.
Preheat oven to 400 degrees F.
Line a baking dish with foil and spray with cooking spray.
Place chicken in prepared dish, along with about ½ cup of the marinade. Discard the remaining marinade.
Bake, uncovered, for 30-40 minutes, or until the chicken reaches an internal temperature of 165 degrees. If using chicken tenders or boneless chicken thighs, decrease the baking time to 20-25 minutes.