Preheat your oven to 325 degrees Fahrenheit and prepare a large baking dish by spraying it with non-stick cooking spray.
Remove the skin from the ham, leaving as much of the fat on as possible.
Add the ham to the baking dish and score the top (fat side up) with a sharp knife in a diagonal cross pattern (instructions in blog post above).
In a medium bowl, whisk together the maple syrup, the dijon mustard, the Worcestershire sauce, balsamic vinegar, garlic, shallots (if using), olive oil, rosemary and thyme until the glaze is smooth and everything is incorporated.
Pour the glaze over the ham, brushing the glaze into the cracks on the top of the ham.
Roast for 45-55 minutes, or until the internal temperature of the ham reaches 145 degrees Fahrenheit (or 63 degrees Celsius). Use a meat thermometer or an instant read meat thermometer to ensure the ham isn't over-cooked or under-cooked.
Baste the ham 3 times through cooking (after 15-20 minutes) by drizzling the glaze from the bottom of the pan over the ham while it roasts.
Let the ham rest covered with aluminum foil for 5-10 minutes before slicing and serving.
This ham can be made one day ahead and re-heated (covered) before serving.