Preheat the oven to 400 degrees F and set oven rack in the middle.
If you're Brussels sprouts are small, you may need to cut your bacon in half. Larger sprouts work well with a whole slice of bacon.
Wrap appropriately sized piece of bacon around each sprout. You want it to wrap around at least 1 full time and overlap at the seam.
Lay the sprout bacon seam side down on a baking sheet.
In a small bowl, combine the maple syrup and balsamic vinegar. Start with 2 tablespoons of syrup and add more if you want it sweeter. Use a basting brush to cover the tops of your sprouts with the glaze.
Place in the oven and cook for 25-30 minutes, depending on size of sprouts, until bacon is browned and crisp and sprouts are tender (they will be fork tender when you poke them.) If you there is any remaining glaze, brush the tops and serve, but that is optional!