Line a rimmed baking sheet with heavy foil. Place a baking rack over the lined sheet tray and arrange the bacon slices across the rack next to each other, not overlapping.
In a small bowl, whisk the maple syrup and mustard. Generously spoon over the top of the bacon, and bake 12 to 15 minutes. Turn the bacon over and baste with syrup mixture. Bake an additional 5 to 10 minutes, or until the bacon has reached desired crispiness.
Carefully remove the pan from the oven. Sprinkle hot bacon with a pinch of finely ground black pepper. Let the bacon rest on the rack for 5 minutes.