Make the syrup. Add the water, sugar, brown sugar, maple syrup, orange zest, orange juice and rosemary to a medium saucepan. Bring to a boil and reduce the heat to low.
Steep the rosemary. Continue to heat the syrup for 15 minutes until it becomes slightly thicker. Remove from the heat and allow the rosemary to steep for an additional 30 minutes.
Remove the rosemary and zest. Using a fine mesh seive, pour the syrup through into a mason jar to catch the rosemary and orange zest. Discard the rosemary and orange zest. The syrup will stay good for up to 1 month in the fridge.