Wrap 3 1-inch long sprigs fresh rosemary in cheesecloth and tie bundle with kitchen twine, leaving ends of twine long enough to hang out of saucepan for easy removal.
Add 12 ounces fresh whole cranberries, 1 cup granulated sugar, and ½ cup pulp-free 100% orange juice to medium saucepan. Stir to incorporate ingredients, then add wrapped rosemary, submerging rosemary completely.
Place saucepan on stovetop over medium-high heat. Stir constantly while bringing mixture to gentle boil.
Once mixture begins to boil, reduce heat under saucepan to low. Simmer mixture 1 minute (for more whole berries), up to 5 minutes (for fewer whole berries). Note: cranberries will burst while simmering. To speed up process, when some cranberries begin to burst, press remaining cranberries against side of saucepan with back of wooden spoon.
When desired number of cranberries have burst, remove saucepan from heat. Add ½ teaspoon fine orange zest and stir to incorporate, then cover saucepan with lid and set aside. Let cranberry sauce rest, covered, 10 minutes.
After 10 minutes, remove lid from saucepan. Press rosemary bundle against side of saucepan with back of wooden spoon to extract as much flavor as possible, then remove bundle from saucepan and discard.
Transfer cranberry sauce to serving bowl. Let sauce cool to room temperature, then garnish with 1 sprig fresh rosemary if desired and serve immediately. Alternately, let sauce cool to room temperature, then cover bowl with lid or plastic wrap and place bowl in refrigerator. Chill cranberry sauce until 30 minutes prior to serving. Let sauce come to room temperature then garnish with 1 sprig fresh rosemary and serve.