Preheat oven to 350 degrees. Coat the bottom of a shallow roasting pan with canola cooking spray.
Put syrup, mustard, vinegar, soy sauce, salt, and pepper in a small bowl and set aside.
Place pork roast in a prepared roasting pan. Spread glaze evenly over the pork roast. Bake in oven until meat thermometer reaches 160 degrees (45 minutes to 1 1/2 hours). Remove from oven and let rest 10 minutes. Slice and serve.