For the Stuffed Chicken:
Chop 3 cloves of garlic and 3 sprigs of rosemary. Combine in a small bowl with olive oil; add zest of one lemon, juice of 2 lemons, salt and pepper to taste. Add chicken to the marinade and toss to coat. Marinate for two hours room temperature or overnight in the refrigerator.
Preheat oven to 375°F. Slice two remaining cloves of garlic thinly and sauté in olive oil until slightly brown, remove from heat and cool. Chop remaining leaves of rosemary and add it to the cooled olive oil with garlic. Mix the olive oil mixture with the goat cheese.
Separate the goat cheese mixture into six equal parts and stuff the mixture under the skin of each chicken breast.
Bake in a preheated 375°F oven 20-30 minutes.