Start with thick, bone-in chops.
Mix together rosemary, pepper, salt, and garlic, and rub the chops with it.
Then throw them in a bag with olive oil and balsamic vinegar. Marinade for a couple of hours (or overnight).
They are best on the grill for about 22 minutes, but you can also broil them in the oven for the same amount of time. They are delicious!