In a large saucepan, bring 1 in. of water and carrots to a boil. Reduce heat; cover and simmer for 3-5 minutes or until crisp-tender.
Meanwhile, in another saucepan, combine the cornstarch and orange juice until smooth. Stir in the remaining ingredients. Bring to a boil; cook and stir for 2 minutes or until thickened. Drain carrots; transfer to a serving bowl. Pour glaze over carrots; gently stir to coat.