While the ham bakes, combine the Black Garlic Balsamic Vinegar, brown sugar, maple syrup (or honey), Dijon mustard, and cinnamon (if using) in a small saucepan. Bring the mixture to a simmer over medium heat, stirring until the sugar is dissolved. Reduce the heat to low and simmer for 5-7 minutes until the glaze has thickened slightly. Remove from heat.