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Preheat the oven to 325°F. Using a sharp paring knife, make shallow crosshatch cuts all over the outside of the ham. Arrange ham in a large roasting pan and bake for 30 minutes. Meanwhile, combine syrup, marmalade, juice, ground cinnamon, pepper and cloves in a small bowl to make a glaze. After ham has baked for 30 minutes, remove from oven; increase oven temperature to 425°F.
Arrange oranges and cinnamon sticks (if using) around ham in roasting pan, then brush ham and oranges liberally all over with glaze, pouring remaining glaze over the ham. Return to oven and bake, basting about every 10 minutes, until ham is hot throughout and caramelized on the outside, about 45 minute more.
Transfer ham to a platter and set aside to let rest for 15 minutes. Arrange oranges and cinnamon sticks around ham and serve.