Trim lamb racks well. In medium saucepan, heat chicken broth. Add carrots, zucchini, onion and celery; simmer, covered, about 10 minutes, stirring occasionally.
Stir bread cubes, orange, parsley, orange peel and spices into vegetable mixture. If too dry, add extra broth. Don't overmix.
On broiler pan grid, press 2 lamb racks together so bones interlock at top and stuffing is in center. Tie if necessary. Brush each rack with orange juice concentrate.
Roast in preheated 375°F oven for 30 minutes or until internal temperature reaches 145° to 150°F. Turn oven off and let racks rest 5 minutes in oven.
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