Add the yellow mustard, ketchup, honey, apple cider vinegar, Worcestershire sauce, and brown sugar to a saucepan over medium heat. Stir to combine and simmer until the brown sugar has dissolved into the mustard mixture (about 10 minutes)
Add the dry mustard, garlic powder, onion powder, salt, and cayenne pepper to the mixture. Whisk to combine and simmer for 5 minutes.
Set the sauce aside for 30 minutes before using it to allow the flavors to blend together.
If you are not using the sauce right away, store it refrigerated in an airtight container for up to two weeks.
Serve with brisket, pulled pork, grilled chicken, pulled chicken, burgers. or as a condiment on your favorite sandwiches.
You can reheat the sauce when needed if you prefer it warm, or use it cold.