Place maple syrup, cinnamon stick, orange juice and oranges in pot and bring to a simmer.

In small bowl, stir together water and cornstarch until smooth.

Stir cornstarch slurry into maple mixture, and continue to simmer over low heat 30 to 45 minutes, until thickened.

Strain glaze to remove the cinnamon stick and oranges.

Let glaze cool.

Steam carrots 5 minutes, or boil in salted water 6 minutes, until firm-tender. Drain.

Combine carrots, maple glaze, salt, pepper and parsley.

Serve immediately.

If you prefer serving carrots steaming hot, put them in a hot saucepan for a few minutes to heat the glaze through.