Approximately 9:45pm while on a boat on Clear Lake, we saw first one, then a few minutes later two orange-yellow orbs rise from near the horizon to above the clouds. They rose at a steady rate of speed, and maintained mostly a straight course up. Yes, this was July 4th, but we feel strongly they were not fireworks due to the time of their ascent - over a minute, and also they disappeared behind a thin layer of high clouds. I have seen a missile launch from Cape Canaveral while in Orlando, and these objects most closely resembled rocket launches in my opinion. They rose at a steady rate of speed, then disappeared beyond the high clouds. I did film them, but after watching my footage I wish I had done a much better job of filming.