In a small bowl, whisk together the soy sauce, honey, olive oil, orange juice, dijon mustard, garlic, rosemary, and pepper. Cut small slits in the top of each of the tenderloins, about halfway through (about 6 slits on each). Pour the sauce over the top of the tenderloins.
Bake in the preheated oven for 40-50 minutes, spooning the sauce over the top of the tenderloins every 10 minutes. Bake until a meat thermometer inserted in the largest part of the tenderloins reads 145.