Grilled Asparagus From "How to Grill" -Steven Raichlen 6/6/2009 1 lb Asparagus 2 tbsp sesame oil 1 tbsp soy sauce 3 cloves garlic minced Salt Pepper 2 tbsp sesame seeds Lay asparagus out in a basket. Mix oil, soy sauce, and garlic, brush on asparagus. Sprinkle on salt and pepper. Grill on high 3 minutes per side. Sprinkle on sesame seeds while they're grilling.