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Preheat oven to 425 degrees F. Place Brussels sprouts in cast iron skillet or on rimmed baking pan; toss with oil. Transfer to oven and roast 18 to 20 minutes or until golden brown and tender, stirring once halfway through cooking.
Meanwhile, in small bowl, whisk together maple syrup, lemon juice, mustard and salt and pepper.
Remove Brussels sprouts from oven. Add maple syrup mixture to skillet; toss until well combined.