Place baby carrots in a steam basket and cook on high heat until tender, about 6 minutes. Remove and set aside.
In a large saucepan over medium heat, add butter. When it starts foaming, add steamed carrots, brown sugar and Grand Marnier. Cook carrot mixture for 3 minutes. Season carrot mixture with rosemary, cayenne pepper and sea salt; stir and cook for 7 minutes or until glaze thickens.
Transfer to a serving dish, sprinkle with parsley and serve immediately. Makes 4 servings.