Combine yellow mustard, brown sugar, apple cider vinegar, and honey in a medium saucepan.
Cook over medium heat, stirring continuously.
Add ketchup, Worcestershire sauce, paprika, garlic powder, cayenne pepper, salt, and pepper.
Stir well to blend all ingredients.
Bring the mixture to a gentle boil.
Reduce heat and let it simmer for about 5 minutes, stirring occasionally to prevent it from sticking.
Taste the sauce and adjust seasoning as needed.
If you prefer a sweeter sauce, add a little more honey.
Salt and pepper can be adjusted for your taste.
Let the sauce cool to room temperature before using.
Store in an airtight container in the refrigerator if made in advance.