In a small bowl, whisk together the dark brown sugar, vegetable oil, soy sauce, liquid smoke, garlic salt, and smoked paprika. Taste and adjust as needed.
Lay the sliced tempeh in a shallow dish. Pour the marinade over the slices and turn them gently to coat. Let sit for 30 minutes.
While the tempeh marinates, preheat the oven to 350°F. Line a rimmed sheet pan with parchment paper.
Transfer the tempeh slices to the prepared sheet pan, arranging in a single layer with space between each piece. Reserve the marinade.Bake for 15 minutes, then remove from the oven, flip each piece, and brush with reserved marinade. Bake for another 15 minutes.
Brush with any remaining marinade and season with black pepper to taste. Serve warm or at room temperature.