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Add the carrots to a deep skillet or saucepan. Cover them with water and boil over high heat until tender-crisp. Check after 5 minutes since timing will really depend on how thick the carrots are cut. Keep in mind the carrots will be cooked for a little longer in the next step, so once they're close to desired doneness, drain the water, returning the carrots to the pan.
Add the butter, brown sugar, lemon juice, and cinnamon to the pan. Cook over medium heat (or medium-low if it's too hot) for about 5 minutes, or until the sauce has thickened a little bit and the carrots are cooked to your liking.
Season with salt & pepper as needed. Serve immediately with some parsley sprinkled over top if you wish.