Preheat oven to 375 degrees. Line a baking sheet with parchment paper; set aside. In a medium bowl, whisk together flour, cornmeal, baking powder, sugar, 1/2 teaspoon salt, and 1/4 teaspoon pepper. Make a well in center; add milk, eggs, and oil. Mix just until combined.
Insert an ice-pop stick into one end of each sausage, leaving a 1 1/2-inch handle. Dust with flour; tap off excess. Using handle, rotate each sausage over bowl as you spoon batter to coat evenly. Place on sheet; bake 5 minutes. Remove from oven. Using a spatula, reapply batter that has slipped onto sheet. Return to oven; bake until golden, 20 minutes. Serve with ketchup and mustard, if desired.