Marinate the brats. This is the key to really ending up with perfectly juicy brats! Combine the uncooked brats and sliced onions in a baking dish or pyrex dish and cover with the beer, onion powder, and Worcestershire. Soak for 12 hours or overnight.
Mix the sauce. Combine all the creamy mustard sauce ingredients and whisk until smooth. Refrigerate until you're ready to use. Pro tip: The sauce gets better the longer it sits!
Prep your grill. Before using your grill, make sure to clean the grates of any food and debris. Lightly grease the grates with nonstick spray. Preheat an outdoor grill where one side is medium-high heat and the other side is low heat. Close the lid and wait until the temperature reaches 450 F.
Simmer the brats. Transfer the brats, onions, and beer to a large cast iron or heat-safe skillet or dutch oven. Transfer the cast iron/Dutch oven directly to the grill grates over the low heat zone. Close the grill. Bring the brats up to a boil, then boil for 10-12 minutes.
Grill the brats. Using tongs, transfer the brats from the beer straight onto the hot side of the grill. Grill for 2-3 minutes per side, until charred and the internal temperature reaches 160 F. Transfer to a plate and let them cool slightly before serving. Use a slotted spoon to remove the onions from the beer and set aside for serving.
Assemble. Layer the grilled beer brats, onions, sauce, and cabbage or kraut into toasted brioche buns and enjoy!