In a large skillet on the stovetop, heat the olive oil over a medium heat.
Halve your brussels sprouts and place flat side down onto the skillet. Let cook without moving for about 3 minutes or until golden along the bottom.
Add ¼ cup of water and cover the pan with a lid. You may need to add more water to cover the entire bottom of the pan. Steam for about 3 minutes, adding more water if the skillet becomes too dry during the steaming process.
Once brussels sprouts are steamed, place in a bowl or plate and set aside.
In your skillet, mix together the balsamic vinegar, honey, mustard, minced garlic, salt, and pepper. Simmer for about 5-8 minutes until the texture becomes thickened, almost like honey.
Once the sauce has thickened, add the brussels sprouts back to the skillet and toss until fully coated. Continue to let the brussels sprouts simmer in the sauce for about 2 minutes to warm them back up.
Serve and enjoy!