Brown chicken well on all sides in half of heated oil in large non-stick skillet at medium-high heat. Remove chicken and keep warm.
Heat remaining oil. Add shallots and cook for 2 minutes. Stir in balsamic vinegar, then soup, water, sun-dried tomatoes and rosemary. Return chicken to skillet. Heat to a boil. Reduce heat and simmer for 5 minutes or until chicken is cooked through, stirring occasionally.
Combine gently with penne and sprinkle with Parmesan cheese.
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