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In a small mixing bowl or food processor, combine the creamy mustard sauce ingredients. Mix until creamy. Adjust thickness as desired and season to taste.
Prepare/wash the Brussels sprouts by removing the stems and slicing in half or quarters.
Add 1 Tablespoon of olive to a large skillet or fry pan. Heat the pan over medium heat until olive oil sizzles. Add the garlic and cook until fragrant, about 1-2 minutes.
Add the Brussels sprouts and sliced onion. Sauté on medium to medium-high heat for 6-8 minutes or until Brussels sprouts are tender and start to brown.
Add the balsamic vinegar, and sauté for an additional 1-2 minutes to help caramelize the Brussels sprouts. Season with salt and pepper.
Turn the heat to medium low and stir in ½ cup of the creamy mustard sauce. Mix to combine. (Save the extra sauce for other uses or for reheating the dish later).
Cook for another 3-5 minutes on low heat until Brussels sprouts are well coated in the sauce and tender.
Remove from the heat. If desired, toss the sauteed Brussels sprouts with Parmesan and thyme leaves. Serve immediately, hot or cold.