Adjust oven rack to middle position and preheat oven to 375°F (190°C). Line a rimmed baking sheet with aluminum foil and top with a wire rack.
In a small bowl, stir together brown sugar, black pepper, paprika, and cayenne. Arrange bacon slices on prepared rack; sprinkle evenly with sugar mixture, pressing into bacon gently to adhere.
Bake until bacon is crisp and sugar is bubbling, 20 to 25 minutes. Let cool completely on rack (bacon will firm as it cools), about 10 minutes. Serve as is or break or chop into bite-size pieces to serve.
