Place the baby carrots in a steamer and cook over high heat until tender, about 6 minutes.
Remove from heat and set aside.
Melt the butter in a large saucepan over medium heat. When the butter starts to foam, add the steamed carrots, brown sugar (or honey), and Grand Marnier.
Cook for 3 minutes then season with the rosemary, cayenne pepper, and sea salt. stir and cook for 7 minutes, or until glaze thickens.
Transfer to a serving dish, garnish with fresh parsley, and serve!