Heat 1 inch water to boiling in 3-quart saucepan. Add carrots and, if desired, 1/2 teaspoon salt. Cover and heat to boiling; reduce heat. Simmer covered 12 to 15 minutes or until carrots are tender.

While carrots are cooking, heat brown sugar, butter, orange peel, 1/2 teaspoon salt and cinnamon in 10- or 12-inch skillet over medium heat, stirring constantly, until sugar is dissolved and mixture is just barely bubbly. Be careful not to overcook or the mixture will taste scorched. Remove from heat.

Drain carrots. Stir carrots into brown sugar mixture. Cook over low heat about 5 minutes, stirring occasionally and gently, until carrots are glazed and hot.