Preheat your oven to 325°F and line a roasting pan with aluminum foil for easy cleanup.
Remove ham from packaging, drain any juices, and place cut-side down in the prepared roasting pan.
Pour apple juice into the bottom of the pan and cover ham tightly with foil.
Bake covered for 1 hour to warm through.
While the ham bakes, make the glaze by combining maple syrup, Dijon mustard, brown sugar, apple cider vinegar, butter, cinnamon, cloves, and pepper in a small saucepan over medium heat.
Bring glaze to a simmer, stirring constantly, then reduce heat and cook for 5 minutes until slightly thickened. Remove from heat.
After the first hour, remove ham from oven, uncover, and brush generously with half the glaze, making sure it gets between the slices.
Return uncovered ham to oven and bake for another 45-60 minutes, basting with remaining glaze every 15 minutes until the ham is caramelized and reaches an internal temperature of 140°F.
Let rest for 10 minutes before serving with any extra glaze drizzled on top.