01 - Set a grill or barbecue to medium heat to prepare for cooking.
02 - In a mixing bowl, combine tomato ketchup, apple cider vinegar, brown sugar, Worcestershire sauce, Dijon mustard, smoked paprika, garlic powder, and black pepper. Whisk well until smooth.
03 - Arrange sausages on the grill and cook for 10 to 12 minutes, turning frequently to ensure even browning and thorough heating.
04 - During the final 5 minutes of grilling, baste sausages generously with prepared barbecue sauce. Turn sausages regularly to caramelize all surfaces.
05 - Serve sausages hot with extra barbecue sauce, optionally in hot dog buns and garnished with sliced onions, pickles, or coleslaw.