Preheat oven to 350.
Mix brown sugar, rice vinegar, maple syrup, black pepper and a pinch of salt in a bowl.
Place bacon slices on a rack set over a baking sheet line with foil or parchment paper. Helps with the clean up later on.
Bake for 10 minutes, turn slices, and bake another 5 minutes.
Remove pan from oven and brush both sides of bacon with brown sugar mixture. Return bacon to the oven and bake another 5 minutes. Do this 2-3 more times until bacon is browned and crisp.