Add all the ingredients to a large saucepan and whisk thoroughly to combine. Warm over medium heat.
Once bubbling, reduce the heat to low and continue simmering for 8-10 minutes, whisking occasionally. Reduce the heat or cover if splattering.
Taste and adjust the seasonings as needed (keeping in mind the flavors will develop as it cools), adding more sugar for sweetness, vinegar for brightness (and to balance the sweetness), chili powder for smokiness, or cayenne or chipotle powder for heat.
Let cool completely before transferring to a storage container, such as a glass jar. Sauce will keep for 2 weeks in the refrigerator or 1 month in the freezer. Serve at room temperature for best flavor.