Add all ingredients to a small saucepan and mix together over medium heat. Cook for about 5 minutes or until mixture comes to a simmer.
Lower heat to low and cook for 10 more minutes while stirring occasionally. Cook longer if you want thicker sauce.
Store in an air tight container in the refrigerator for up to one week.
Notes
Note: Brown sugar should be soft and pliable. If it gets hard it can be softened in the microwave by putting in a small microwavable bowl and covering with a wet paper towel. Microwave in 20 second increments until soft.