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Heat oven to 350 degrees F. Line a rimmed baking sheet or pan with aluminum foil and spray with non-stick cooking spray.
In a small bowl, stir together hoisin sauce, ketchup, soy sauce, garlic, and sugar. Put pork tenderloin in prepared baking sheet. Spread the hoisin sauce mixture evenly over the tenderloin.
Roast pork in oven until internal temperature reaches 160 degrees, 35 to 40 minutes. Let pork rest 5-10 minutes before slicing. Sprinkle slices with cilantro leaves, if using, and serve.