The goal of quality of service (QoS) routing in overlay networks is to address deficiencies in today's Internet Protocol (IP) routing. This is achieved by application-layer protocols executed on end-nodes, which search for Alternate paths that can provide better QoS for the overlay hosts. In the first part of this paper we introduce fundamental concepts of QoS routing and the current state-of-the-art in overlay networks for QoS. In the remaining part of the paper we report performance results for the Overlay Routing Protocol (ORP) framework developed at Blekinge Institute of Technology (BTH) in Karlskrona, Sweden. The results show that QoS paths can be established and maintained as long as one is willing to accept a protocol overhead of maximum 1.5% of the network capacity.