1. Stir together maple syrup, mustard, vinegar, soy sauce, salt and pepper. Spread evenly over pork roast and place in shallow pan.
2. Roast pork in a 350 degree F. oven until internal temperature, measured with a meat thermometer, reaches 160 degrees F., about 45 minutes to 1-1/4 hours.
3. Remove roast from oven and let rest 10 minutes before slicing to serve.