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Preheat your oven to 400°F (200°C). Lightly grease a roasting pan or a 9×13-inch baking dish with cooking spray or a bit of oil.
Pat the pork tenderloin dry with paper towels. If there is any silver skin on the pork, trim it off with a small sharp knife. Lay the pork tenderloin in the center of the prepared roasting pan.
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In a medium bowl, whisk together the maple syrup, whole grain mustard, apple cider vinegar, olive oil (if using), dried rosemary, salt, and black pepper until the mixture is well combined and looks like a thick, pourable sauce.
Position the roasting pan on a stable surface. Holding the bowl with both hands, slowly pour the maple-mustard-rosemary sauce all over the raw pork tenderloin, making sure to coat the top and sides. Use a spoon to scoop any sauce from the bottom of the pan back over the pork so it’s nicely covered.
Let the pork sit in the sauce for about 5–10 minutes while the oven finishes preheating. This gives the flavors a little head start on soaking into the meat.
Place the roasting pan in the preheated oven and bake for 20–25 minutes, or until the internal temperature of the thickest part of the tenderloin reaches 145°F (63°C). Spoon some of the pan sauce over the pork halfway through baking to keep it moist and flavorful.
Once the pork reaches 145°F, remove the pan from the oven. Tent the pork loosely with foil and let it rest in the pan for 5–10 minutes. This helps keep the meat juicy and lets the sauce settle.
Transfer the pork to a cutting board and slice it into 1/2-inch thick medallions. Spoon some of the warm maple-mustard sauce from the roasting pan over the slices. Serve right away with your favorite sides, passing any extra sauce at the table.
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