Preheat oven to 425 degrees F. Line a baking sheet with parchment paper.
In a small bowl, whisk together Dijon mustard, minced garlic, maple syrup, soy sauce, orange juice, salt and pepper.
Use paper towels to pat dry the salmon filet and place on the parchment-lined baking sheet. Divide the glaze, and brush about 2 tablespoons onto the skin of the salmon.
Add remaining glaze into a small saucepan and bring to a simmer. Cook, whisking often, for about 5 to 7 minutes. Once glaze is thickened, remove from heat.
Bake the salmon for 15 to 17 minutes, or until an internal temperature of 145 degrees F is reached. You can pull the salmon from the oven once it reached about 140 degrees F, as it will continue to cook on the baking sheet.
Transfer the salmon to a serving platter and drizzle with pan-thickened glaze. Serve.