1. Arrange tempeh in shallow baking dish. Mix together orange juice, rind, garlic, marjoram, thyme, and cinnamon and pour over tempeh. Refrigerate for 1 hour. Drain and reserve marinade.
2. Spray large skillet with cooking spray and heat over medium heat. Saute tempeh until browned, about 3 minutes.
3. Add onion and saute until tender, about 5 to 8 minutes. Stir in tomatoes and cook over medium heat 2 to 3 minutes. Add flour and continue to cook for 2 minutes longer.
4. Add reserved marinade, carrots, and potatoes to skillet. Bring to a boil. Reduce heat and simmer, covered, until vegetables are tender, 10 to 15 minutes. Season with salt and pepper.

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