In a 2-quart saucepan, combine the water, orange zest, lemon zest, orange juice, lemon juice, cinnamon stick and cloves. Bring to a boil and reduce to a simmer. Simmer until the flavors are well combined, about 15 minutes. Strain the infusion and set aside. Discard solids. Place 2 tablespoons of honey in each of 4 (12-ounce) glass cups. Pour 2 ounces of the brandy over the honey and pour 3/4 cup of the infusion over honey and brandy. Stir to help dissolve the honey and serve garnished with a cinnamon stick