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Preheat oven to 400°F (200°C) and line a baking sheet with parchment paper.
Toss halved Brussels sprouts with olive oil, maple syrup or honey, salt, and pepper.
Arrange sprouts cut-side down on the baking sheet and roast for 25–30 minutes, flipping halfway, until edges are golden and crispy.
Toast walnuts in a dry pan over medium heat for 2–3 minutes, stirring frequently.
In a small saucepan, warm honey and apple cider vinegar until just bubbling, then stir in toasted walnuts and remove from heat.
Thread roasted sprouts onto skewers (4–5 per stick).
Drizzle walnut honey glaze over skewers, garnish with thyme, and serve warm.