Preheat the oven to 400 degrees F. Whisk together the maple syrup, mustard and pepper in a small bowl. Lay the bacon on a baking sheet. Bake in the oven for 9 to 10 minutes. Remove the bacon and place on a baking rack over a separate baking sheet. Using a paper towel, blot and soak up any excess oil. Then, using a pastry brush, generously glaze the bacon with the syrup. Return the bacon to the oven for another 1 to 2 minutes, to desired crispness. Transfer to a platter and serve.