Switch to gridline every 1px and enable the Snap to Grid (View > Snap to Grid). Set the fill color at R=251 G=176 B=64, pick the Rectangle Tool (M), create two, 74 x 5px shapes and place them as shown in the first image.
Using the Direct Selection Tool (A), select the two rectangles made in this step, focus on the Corners section from the control panel and simply enter "2px" in that white box. This should turn your orange rectangles into rounded rectangles as shown in the second image.