Heat a drizzle of olive oil in a medium skillet over medium high heat. Add 2 large carrots, trimmed and cut in half then in quarters.
Sauté, stirring frequently, until lightly browned, about 5 minutes.
Add 1 1/3 cup water, 1 tsp grated orange zest, 1/4 cup orange juice, 1/4 cup cider vinegar and 1 1/2 tbsp brown sugar. Season with kosher salt and freshly ground black pepper. Stir to combine and bring to a boil.
Reduce heat to medium and cook until the liquid has mostly evaporated and the carrots are tender and the liquid is syrupy, about 35-40 minutes. Raise heat if the carrots are tender but not quite glazed.