The sequence and timing constraints on the activities in business processes are an important aspect of business process compliance. To date, these constraints are most often implicitly transcribed into control-flow-based process models. This implicit representation of constraints, however, complicates the verification, validation and reuse in business process design. In this paper, we investigate the use of temporal deontic assignments on activities as a means to declaratively capture the control-flow semantics that reside in business regulations and business policies. In particular, we introduce PENELOPE, a language to express temporal rules about the obligations and permissions in a business interaction, and an algorithm to generate compliant sequence-flow-based process models that can be used in business process design.