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Pierce the sausages with a sharp knife. Add the beer to a saucepan over medium-high heat and add the sausages and garlic. You may need to add some water to the pan (just enough to cover the sausages).
Bring to a boil, and reduce the heat to medium-low for about 5 minutes. Drain and set aside. Line a baking sheet with foil and set aside.
Preheat the oven to 425 degrees F.
In a small bowl, combine the apple cider vinegar, mustard, and brown sugar. Mix to combine and stir until the brown sugar dissolves.
Add the vegetables and apples to a large bowl. Pour the mustard mixture over the vegetables and apples, and toss to coat.
Transfer the vegetables to the baking sheet. Top with the brats. Season with the caraway seeds and salt and black pepper.
Cook for 45-50 minutes, tossing once halfway through the cooking time (and flipping the brats), or until the vegetables are browned and tender.
Remove and serve warm.