Heat oven to 325°F. Line cookie sheet with foil; spray foil with nonstick cooking spray. In medium bowl, combine all ingredients except walnuts; mix well. Add walnuts; toss to coat. Spread on sprayed foil-lined cookie sheet, separating nuts with fork.
Bake at 325°F. for 17 to 22 minutes, stirring every 5 minutes, or until glaze thickens and adheres to nuts. Watch during last 5 minutes of baking to prevent burning. Place nuts on waxed paper. Cool 10 minutes or until completely cooled. Break apart.