Preheat your oven to 350 F. Spray an 11” x 17” baking dish with cooking spray or line pan with non-stick foil.
Use a sharp knife to poke six holes along the topside of each of the tenderloins going about an inch deep. Push a sliver of garlic into each hole and place the tenderloins in the baking dish.
In a small bowl whisk together the soy sauce, mustard, honey, orange juice, rosemary, pepper, and olive oil. Pour the marinade over the tenderloins.
Bake uncovered for 45-50 minutes basting every 7–10 minutes. This gives the tenderloins a delicious glaze over the top.
Transfer the tenderloins to a large cutting board and allow them to rest for 10 minutes before slicing.
Thinly slice the tenderloins and transfer to a serving dish.
Drizzle leftover marinade over the sliced pork medallions and serve!
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