1. Prepare grill.
2. To prepare sauce, cook bacon in a medium saucepan over medium-high heat 4 minutes or until almost crisp, stirring occasionally. Add chopped onion to pan; cook 4 minutes, stirring frequently. Add mustard and next 5 ingredients (through 1/4 teaspoon ground cumin) to pan, and bring to a boil. Reduce heat, and simmer for 4 minutes or until slightly thick, stirring occasionally.
3. To prepare pork, combine brown sugar and next 7 ingredients (through red pepper) in a small bowl, stirring well; rub mixture evenly over pork. Place pork on grill rack coated with cooking spray. Grill 20 minutes or until a thermometer registers 155° (slightly pink), turning once. Let pork stand 10 minutes. Cut pork crosswise into 1/2-inch-thick slices. Serve with sauce.