In a small bowl, combine the mustard, maple syrup, lemon zest, rosemary and salt.
Drizzle the salmon with the olive oil and then rub the oil onto the salmon to ensure it's evenly coated. Salt and pepper both sides of the salmon.
Preheat the oven to 350 F (175 C).
Heat an oven-safe skillet over medium high heat until hot. Add the salmon and then carefully spoon the mustard sauce over the salmon, trying not to spill any onto the pan.
Put the pan in the oven and bake until the salmon is cooked to your desired doneness. I usually cook salmon to an internal temperature of 130 degrees F.
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