Snap off tough ends of asparagus. Remove scales from stalks with a knife or vegetable peeler, if desired. Cut spears into 1-inch pieces. Arrange asparagus in a vegetable steamer over boiling water. Cover and steam 3 to 5 minutes or until crisp-tender; drain.
Cook pasta according to package directions, omitting salt and fat; drain well. Set aside, and keep warm.
Coat a medium nonstick skillet with cooking spray; add margarine. Place over medium heat until margarine melts. Add garlic; saute 30 seconds. Add flour; cook, stirring constantly, 1 minute. Gradually add broth and milk, stirring constantly. Cook over medium heat, stirring constantly, until slightly thickened. Add asparagus, Orange-Baked Ham, cheese, and pepper, stirring until cheese melts. Stir in pasta, and serve immediately.