Simmer carrots in boiling water with a pinch of salt until crisp tender, about 8 minutes. Add edamame for the last 3-4 minutes. Drain well. Saute cumin and cayenne in oil until aromatic, about 30 seconds. Add vegetables, vinegar and a 1/2 cup of water. Simmer, stirring frequently, until liquid is absorbed, about 5 minutes. Season with salt and pepper, let cool slightly, stir in cilantro, and serve.