Pat the chicken breasts dry with paper towels. Season both sides generously with salt, freshly ground black pepper, poultry seasoning, and dried rosemary.
Heat the extra-virgin olive oil in a large skillet over medium-high heat. Add the chicken breasts and cook for 5-7 minutes on each side until golden brown and cooked through (165°F/75°C internal temperature). Transfer chicken to a plate and cover to keep warm.
Reduce heat to medium. Add orange marmalade, balsamic vinegar, and chicken broth to the skillet. Whisk to combine, scraping browned bits. Simmer for about 5 minutes until slightly thickened.
Return chicken to the skillet, spoon glaze over top. Simmer 2-3 minutes to absorb flavors. Stir in chopped parsley just before serving.
Meanwhile, bring water or chicken broth and milk to a gentle boil in a saucepan. Gradually whisk in polenta, stirring continuously to prevent lumps. Cook 5-7 minutes until thickened. Remove from heat and stir in butter, goat cheese, salt, and pepper.
Spoon creamy goat cheese polenta onto plates, top with glazed chicken. Drizzle remaining glaze over chicken and garnish with extra parsley. Serve and enjoy!