Mix together the Dijon mustard, fresh ground black pepper, chopped rosemary, and minced garlic.
Take a 1 gallon bag and empty marinade inches Add pork tenderloins, seal bag, and mix around until covered. Marinate in the refrigerator for 1 hour.
Preheat oven to 375 degrees F.
Place the rosemary sprigs and smashed garlic in the center of a roasting pan. Remove the tenderloins from the bag and top each with 2 slices of maple bacon. Tie three pieces of kitchen twine around each of the tenderloins and bacon and place into your roasting pan.
Place the roasting pan in the oven and bake for 25 to 30 minutes or until an instant-read thermometer registers 160F when inserted into the tenderloin.
Remove from oven and let sit for 5 to 10 minutes on a cutting board.
Remove kitchen twine and slice. Garnish with the rosemary sprigs and garlic.