In a large nonstick skillet, heat olive oil over low heat. Add garlic cloves, and cook until tender, about 2 minutes. Stir in chili powder and ground cumin; cook 1 minute.
Add carrots, lemon zest, water, and coarse salt; bring to a boil. Reduce to a simmer; cover, and cook until carrots are tender, 15 to 20 minutes.
Uncover, raise heat to high, and cook until any remaining liquid has evaporated, 2 to 3 minutes. Stir in 2 tablespoons fresh lemon juice, and serve.