Preheat the oven to 350°F. Line a rimmed baking sheet with a silicone mat or parchment paper.
Arrange the bacon in a single layer on the prepared baking sheet and place on the center rack of the oven. Bake for 10 minutes; flip the bacon and cook for 5 more minutes.
Meanwhile, combine the brown sugar, vinegar, maple syrup in a small bowl.
Brush the bacon with one-third of the brown sugar mixture. Bake for 10 minutes.
Flip the bacon over and brush with another one-third of the brown sugar mixture. Bake for another 10 minutes.
Flip the bacon over one last time. Brush with the remaining brown sugar mixture. Bake for 5 more minutes, or until the bacon meat is browned and the bacon fat is translucent. (The bacon will not yet be crisp.)
Transfer the bacon to parchment paper or a greased cooling rack to cool slightly. (The bacon will harden as it cools.)