01 - Preheat grill to medium heat, approximately 350–400°F.
02 - In a small bowl, whisk together the barbecue sauce, honey or brown sugar, Dijon mustard, apple cider vinegar, smoked paprika, and black pepper until evenly combined.
03 - Place sausages on the preheated grill and cook for 10 to 12 minutes, turning occasionally, until evenly browned and nearly cooked through.
04 - Brush sausages generously with the prepared glaze. Continue grilling for an additional 2 to 3 minutes, turning as needed, until the glaze is caramelized and sausages reach full doneness.
05 - Remove sausages from the grill and let rest for 2 minutes. Serve hot, garnished with parsley and accompanied by rolls, sliced onions, and pickles if desired.