Preheat oven to 375°F (190°C). Line a baking dish with foil or parchment paper.
Arrange sausages in the dish in a single layer.
In a bowl, whisk together honey, soy sauce, brown sugar, ketchup, garlic, and pepper.
Pour the glaze evenly over the sausages.
Bake uncovered for 35–40 minutes, turning sausages halfway through, until cooked through and caramelized.
Spoon extra glaze from the pan over the sausages before serving. Garnish with parsley if desired.