Place the carrots, sugar and salt in a large saucepan; add 1 in. of water. Bring to a boil. Reduce heat; cover and simmer for 8-10 minutes or until crisp-tender. Drain and set aside.
In the same pan, combine the glaze ingredients; cook and stir over medium heat until blended. Return carrots to pan; bring to a boil. Reduce heat; simmer, uncovered, for 4-6 minutes or until carrots are glazed, stirring occasionally.