Preheat oven to 375 degrees. Line 2 baking sheets with foil and spray with nonstick cooking spray. Soak 24 toothpicks in water while preparing sausage. In a small bowl, mix brown sugar, cayenne and paprika. Cut bacon into thirds and wrap each strip around a sausage. Drain toothpicks and use one to secure each bacon strip and sausage. Arrange skewers on prepared baking sheet and sprinkle liberally with brown sugar mixture. Bake until bacon is crisp and brown sugar caramelizes, 15-20 minutes.