Rinse the cranberries well and drain off excess water. Pick through the cranberries and discard any soft or wrinkled ones.
In a medium saucepan, combine the cranberries, maple syrup and water. Bring the mixture to a boil over medium-high heat, then reduce heat to medium-low. Cook, stirring occasionally, about 5 to 10 minutes, until many of the cranberries pop. Using the back of a spoon, crush some cranberries against the sides of the saucepan to create a thick mixture.
Remove the pot from heat and stir in 1 teaspoon of the orange zest (save any extra zest for garnish). Add the cinnamon and stir to combine. Taste and if the mixture is too tart (keeping in mind that cranberry sauce is supposed to be a little tart!), add the optional orange juice.
The sauce will continue to thicken as it cools. It will keep in the refrigerator, covered, for up to 2 weeks.