Mix honey, mustard and soy sauce in medium bowl. If mixture is too thick to drizzle, thin it with a little water.
Combine lemon juice, lemon zest, prunes, rosemary and 2 tbs of the honey-mustard mixture in medium bowl. Stuff into chicken cavity.
Set chicken on rack in roasting pan. Spoon 2 tbs of the honey-mustard mixture over chicken. Tent loosely with heavy-duty foil, tucking ends around pan.
Roast chicken for 50 minutes. Remove foil. Spoon remaining honey-mustard mixture over chicken, then tent loosely for remainder of roasting (about 30 minutes).
Transfer to plate; let rest for 10 minutes. Carve and serve with stuffing.