Using a sharp knife, slice the dates lengthways and remove the seed. Ensure you do not split the dates in half. Discard of the seeds and set the dates to the side.
In a cold pan, add the bacon. Turn the heat to high and cook for 3 minutes, stirring occasionally. Add the walnuts, two thirds of the rosemary, maple syrup and brown sugar to the pan with the bacon and cook for an additional 5 minutes or until the bacon is crispy and you have a jammy consistency.
In a food processor, combine the goats cheese, two thirds of the orange zest, olive oil and salt and pepper to taste. Blend until smooth and well combined.
Stuff the dates with roughly a teaspoon of the goats cheese mixture and lay them onto a baking tray or into a baking dish. Sprinkle the candied walnuts and bacon mixture all over. Bake for 10 minutes.
Sprinkle over the remaining rosemary and orange zest and serve immediately.