I grew up with nasty steamed and boiled sprouts but once I learned to cook them I'm definitely a fan. When I roast fresh, I halve or quarter them if they are large, I saute quarters and even slice them green like I would cabbage for tacos or salads.
Frozen is interesting, they do lose a bit of moisture and they get a little funky, but if you defrost them for 30 mins in cold tap water (I add a little salt too) then let them drain for a bit. I then use them like fresh.
The best friend to a Brussel Sprout is BACON, (and not over cooking it) Chopped 1/2 cooked bacon or just bacon grease will enhance the flavor, salt will help with older sprouts , when they're fresh we use the Montreal seasoning that we use on most roasted vegetables.
There is a food truck in Portland that cooks up a tray of brussel sprouts with bacon that is to kill for, they spice them first and fry them with some bacon shards.
Don't give up on this vegetable, it's one that makes me want to figure out how to cook liver in a way I can eat it.