Cut the stems off the brussels sprouts, and cut each sprout in half.
Lightly spray a skillet with nonstick spray and heat it over medium heat.
Cook the turkey bacon over medium heat until crispy; transfer to a plate.
Add 1 teaspoon of olive oil to the skillet. Arrange the brussels sprouts in the skillet, cut-side down (you may need to cook the brussels sprouts in two batches.)
Leave the brussels sprouts in the skillet, cut-side down, and cover the skillet with a lid. Allow the brussels sprouts to steam in the skillet for about 5 to 6 minutes. They're done when caramelized and deeply brown on the cut side. Transfer to a plate when done
Add a second teaspoon of olive oil to the skillet, and cook the second batch of brussels sprouts halves.
Finally, return all of the brussels sprouts and bacon to the skillet with 2 teaspoons of balsamic vinegar. Stir the brussels sprouts and bacon to coat.