Stir together all ingredients in a 1-quart saucepan over medium-high heat; bring to a boil, stirring often. Cover, reduce heat to low, and simmer 30 minutes. Remove pan from heat, and let stand at room temperature 1 hour or until completely cool.
Store leftover sauce in refrigerator up to 2 months.
Note: Nutritional analysis is per 1 tablespoon sauce.