Whisk mustard, honey, sugar and vinegar in a saucepan. Bring to a boil over low heat and simmer for 5 minutes, stirring occasionally, until the sauce has a strong smell. Remove the saucepan from the heat and season the sauce with salt and pepper.
Transfer the sauce to a bowl and serve hot or at room temperature. It can be kept well closed in the refrigerator for several weeks.
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