01 - Preheat oven to 425°F. Pat the duck dry thoroughly with paper towels.
02 - Score the duck skin in a criss-cross pattern without cutting into the meat.
03 - Rub salt and black pepper evenly over the duck, including inside the cavity.
04 - Fill the cavity with orange quarters, onion, garlic cloves, thyme, and rosemary.
05 - Place the duck breast side up on a rack inside a roasting pan.
06 - Roast the duck for 20 minutes to crisp the skin, then reduce oven temperature to 350°F.
07 - Combine honey, balsamic vinegar, and orange juice in a small bowl to create glaze.
08 - After 40 minutes of roasting, carefully drain excess fat from the pan and baste duck with glaze.
09 - Roast for an additional 45 minutes, basting every 15 minutes with glaze, until skin is golden and internal temperature reaches 165°F at thickest thigh.
10 - Transfer duck to a platter, loosely cover with foil, and rest for 15 minutes before carving.