Preheat the oven to 400 F and line your baking sheet with parchment paper, I like to do this first so it is ready to go.
Wash asparagus & lightly dry. Break off ends, or cut 1” off the bottom.
Grabbing 4-6 pieces of asparagus at a time, wrap one piece of bacon around it, folding the end under and placing that part on the prepared pan.
Mix maple syrup, soy sauce, & pepper in a small bowl, and warm up for 15-20 seconds in the microwave. This will help it combine easier.
Drizzle sauce mixture over bacon wrapped asparagus.
Place in the oven for 25 minutes.
Then turn on the high-broiler to crisp up the bacon for 3 minutes.
Remove from the oven, serve on a plate or platter and enjoy!