Preheat the oven to 300F. In a large saucepan, heat the milk, rosemary and orange peel until just about to boil. Strain into a large bowl and stir in the vanilla, egg substitute and sugar. Pour the custard into 4 individual souffle dishes.
Place a 9 inch X 9 inch baking dish on the oven rack. Place the filled souffle in the dish and pour in the hot water - the souffle dishes should be about three quarters submerged. Cover the baking dish loosely with foil and bake for 1 hour - the custard should be well set. Take the souffle dishes out of the water and let them cool a bit -about 1 hour.
Loosen the custard from the souffle dish with a knife. Invert the dish over an individual serving plate and shake the custard out. Spoon 1 teaspoon of the maple syrup over the top. Garnish with a sprig of rosemary. You can serve Creme Caramel at room temperature or cold.