In a 12-inch skillet, heat bacon on medium heat, browning both sides until crisp. In the meantime, combine the vinegar, cranberry sauce, honey, zest, rosemary, 1/8 tsp. of salt, and 1/8 tsp. of pepper in a small bowl and whisk until emulsified.
Transfer bacon to a napkin-lined plate to drain and add the Brussels sprouts to the residual bacon fat, stirring with a wooden spoon to quickly soften, about 1 minute.
Add the liquid mixture, cranberries, and almonds to the pan, and stir to combine. Cover, stirring occasionally, until parts of the sprouts are lightly browned and almonds are fragrant, about 5 minutes. Season with salt and pepper to taste, and serve immediately.