Preheat the oven to 350 degrees F. Line a baking sheet with aluminum foil then a wire rack.
Whisk together the maple syrup, pepper, and mustard. Lay the bacon on the rack being careful not to overlap. Brush the bacon with the syrup mixture.
Put the baking sheet on the top rack of the oven and bake until golden and crisp, 18 to 20 minutes. Remove from the oven and let cool slightly before serving.