Heat on the stovetop on medium low heat until thickened, while whisking. Be careful not to overcook because it thickens more as it cools.
You can also use soy sauce for this, or even coconut aminos if you can’t have soy. Using soy sauce will make this non gluten free.
Using coconut aminos will make it slightly sweeter than the Tamari or soy sauce, so leave out the 2 extra tablespoons of maple syrup and taste first. It may also not be as salty so if you find it needs more salt, feel free to add salt.
This recipe makes about 2 cups. Serving size is 1/4 cup.