Wash and dry the carrots. Peel the carrots and cut them into 2-inch pieces. Place the carrots in a large saucepan and cover them with water; bring to a boil. Reduce the heat to medium-low and let the carrots simmer until they are tender but not overly mushy, about 10-15 minutes. Drain the water and transfer the carrots to a large bowl. Set aside.
Combine brown sugar, butter, cinnamon, and lemon juice in the same saucepan you used to cook the carrots; bring to a simmer. Stir the glaze until it thickens, about 10 minutes. Pour the glaze over the carrots and serve promptly. Enjoy!
If desired, garnish your glazed carrots with fresh parsley or thyme.