GLAZE: In the small bowl, stir together the garlic, rosemary, balsamic vinegar, honey, olive oil, mustard, salt, and pepper.
PORK: Cover the bottom of a medium skillet with a light film of canola oil and heat over medium-high heat until hot. Add the pork slices in a single layer, season with salt and pepper, and sear for 1 minute. Turn and sear for 1 more minute, until lightly browned. Transfer the slices in a single layer to the shallow baking dish.
Pour the glaze over the slices and turn them to coat.
Roast for 8 to 10 minutes. Remove from the oven and keep warm, loosely covered until ready to serve. Spoon the balsamic-honey glaze over the medallions to serve and add more freshly ground black pepper to taste.