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.
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