Place oven rack in upper third of oven. Preheat oven to very hot (450 degrees). Lightly coat 12×8×2” (2 qt.)baking dish with nonstick vegetable oil cooking spray.
Brush one side of each breast with 1/2 tsp of the sesame oil. Sprinkle same side equally with 1/2 tsp of rosemary, salt and pepper.
Place 1/4 of the beans on each chicken breast. Roll each up, using fingers to hold beans inside. Place roll-ups, seam-side down, in prepared dish. Lioghtly brush roll-ups with remaining rosemary.
Bake in preheated very hot oven (450 degrees) for 15 minutes. Remove from oven. Let the roll-ups stand for 5 minutes before slicing.
Meanwhile, prepare mandarin sauce: stir together orange juice and cornstarch in small saucepan until smooth and well blended. Bring to boiling over medium heat; cook, stirring until thickened, 2-3 minutes. Stir in oranges. Heat through. Stir in lemon juice. Keep warm.
Slice roll-ups 1/2 inch thick. Arrange on dinenr plates. Spoon sauce over.
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