In a large frypan over low heat, saute the garlic in the olive oil. Continue to cook on a low heat and stir for approximately 15 minutes or until light brown. Be careful to not burn the garlic. Set frypan aside to cool.
In a large saucepan with boiling salted water, cook spaghetti until al dente. Drain, reserving 1/2 cup of the cooking water and add it to the frypan with the cooked garlic. Season with salt and ground black pepper.
Incorporate to the pasta the tomatoes, basil, marjoram and balsamic vinegar.
Transfer pasta dish to a heated serving platter. Top with grated Parmesan cheese and serve immediately.