Peel and section oranges over a bowl, reserving 1 teaspoon juice. Set sections aside; discard membranes.
Heat vegetable oil in a large skillet over medium-high heat. Add asparagus and garlic; sauté 5 minutes. Remove from pan.
Combine soy sauce and sesame oil; pour over asparagus mixture, tossing well. Cool to room temperature. Stir in sesame seeds, orange sections, and 1 teaspoon juice. Serve on cabbage leaves, if desired.
Note: Each serving provides 110 micrograms of folate.