Set ham on counter to come to room temperature 30 minutes to 1 hour before cooking.
For the glaze, add maple syrup to a saucepan and whisk in garlic, pepper, smoked paprika, kosher salt and rosemary.
Cook over medium- high heat and bring to a boil. Continue to cook for 3-5 minutes, whisking often.
Remove from heat and allow to cool slightly.
Use an injector to inject maple glaze into the ham. Use remaining glaze to brush glaze all over ham.
Prepare grill to a 300° fire with hickory for smoke flavor.
Place ham over indirect fire, close grill lid and cook for 10- 15 minutes per pound until ham reaches 140° internal temperature.
Remove from grill and allow to cool 10 minutes before slicing.