Preheat oven to 375°F. Line a baking sheet with parchment paper; set aside.
In a medium bowl, whisk together flour, cornmeal, baking powder, sugar, salt, and pepper. Make a well in the 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 sausage with extra flour; tap off excess.
Using the handle, rotate each sausage over a bowl as you spoon batter over top to coat evenly. Place onto prepared sheet and bake 5 minutes.
Remove from oven and, using a spatula, reapply any batter that has slipped off onto the sheet. Return to oven and bake 20 minutes more until golden.
If desired, serve with ketchup and mustard for dipping. Serve grapes on the side.