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Step 1
Heat oil in a heavy skillet. Add endive halves, cut side down, and sear on medium-high heat for a couple of minutes per side, turning once, until golden brown but still somewhat firm in the middle. Salt to taste, transfer to a serving dish and tent with foil to keep warm.
Step 2
Simmer vinegar in a small saucepan for about a minute. Remove from heat and whisk in butter bit by bit. Whisk in sugar and, if desired, some salt and pepper.
Step 3
Drizzle some of the balsamic butter on endives, strew with marjoram and dust with pepper. Serve. Remaining balsamic butter can be refrigerated for future use.