In a medium saucepan, bring 4 cups of water to a boil. Once boiling, remove from heat and add the tea bags and rosemary leaves. Allow to steep for 5-7 minutes, depending on your desired strength.
Remove the tea bags and strain out the rosemary leaves. Stir in the honey or sugar while the tea is still warm, ensuring it dissolves completely.
Let the tea cool to room temperature, then stir in the fresh orange juice.
Refrigerate the tea for at least 1 hour to chill.
To serve, fill glasses with ice cubes, pour the chilled tea over the ice, and garnish with orange slices.