Place a steamer insert into a saucepan and fill with water to just below the bottom of the steamer. Bring water to a boil. Add carrots, cover, and steam until tender, 7 to 8 minutes. Transfer to a 9x13-inch baking dish.
Melt butter in a saucepan over medium heat and stir in brown sugar until dissolved; add brandy, orange juice, and cornstarch. Stirring constantly, bring sauce to a boil, reduce heat to low, and simmer until thick, about 1 minute. Pour sauce over carrots in baking dish. Season with salt and pepper.
Bake in the preheated oven until bubbling, about 30 minutes. Garnish with parsley.
To make ahead, pour sauce over carrots and let cool; refrigerate until about 1 hour before serving time. Let dish reach room temperature before baking for 30 minutes. You can warm in microwave oven for 5 minutes instead of baking.