Mix the soy sauce, maple syrup, orange juice, 2 garlic cloves and 2 tablespoons water in a large bowl; add the salmon and turn to coat. Cover and refrigerate 20 minutes.
Coat a rimmed baking sheet with cooking spray. Drain the fish, season with salt and pepper and place on the prepared baking sheet. Bake until slightly golden around the edges, 8 to 10 minutes.