SNAP off tough asparagus ends; discard. Peel ends of spears with sharp paring knife or vegetable peeler, if desired.
PLACE 5 cups water and 1 teaspoon of the salt in large deep skillet; bring to a boil. Add asparagus spears. Boil, uncovered, 4 to 5 minutes for thin spears, or up to 8 to 10 minutes for thick spears, or until crisp-tender. Drain well. Transfer asparagus to serving plate.
COMBINE orange juice, lemon juice, sugar, mustard, remaining salt and pepper in jar with tight fitting lid; shake well. Add oil; shake well again. Pour as much dressing as desired over warm asparagus. Serve at room temperature.
This salad can also be served chilled. Do not top spears with dressing until just prior to serving.