Combine first 5 ingredients in a small bowl, stirring well with a whisk. Set aside.
Snap off tough ends of asparagus; remove scales from stalks with a vegetable peeler, if desired.
Place asparagus spears in a large skillet; add water to cover. Bring to a boil over high heat; cover, reduce heat, and simmer 3 minutes or until asparagus is crisp-tender. Plunge asparagus into cold water to stop the cooking process; drain. Place asparagus on a serving platter; spoon yogurt mixture over asparagus. Sprinkle with paprika.