Preheat the oven to 375°F. Lightly grease a 24-cup mini muffin pan with nonstick cooking spray.
Cut the brie into approximately 1-inch squares and place in the refrigerator until needed.
In a small bowl, stir together the orange marmalade and cranberry sauce until well combined. Set aside.
Dust a flat surface lightly with flour and roll out the crescent dough, stretching it gently to form an even rectangle. Pinch any seams to seal, then slice into 24 equal squares.
Press each dough square into the prepared muffin cups, forming a small cup. Place a piece of brie in each dough cup, followed by about a teaspoon of the cranberry-orange mixture. Sprinkle with chopped nuts and garnish with a sprig of rosemary.
Bake for 10–13 minutes, or until the crescent dough turns golden and is fully baked.
Let the bites cool for 5–10 minutes, then serve warm.