Preheat your oven to 400°F (200°C) and line a baking sheet with foil or parchment paper.

Trim and halve the Brussels sprouts, optionally seasoning with a pinch of salt.

Wrap a half slice of bacon around each Brussels sprout and place them seam-side down on a cooling rack.

In a small pot, combine balsamic vinegar, brown sugar, and Dijon mustard over medium heat. Stir and simmer until thickened.

Brush the glaze over each wrapped sprout once it has cooled slightly.

Bake for 25 to 35 minutes, rotating halfway to ensure even cooking.

Mix mayonnaise, Dijon mustard, and parsley in a bowl to create the dipping sauce and chill.

Serve the baked Brussels sprouts warm with the dipping sauce in the center.