Snap off tough ends of asparagus; place in a shallow dish.
Combine orange rind and next 6 ingredients in a jar; cover tightly. Shake jar vigorously. Pour one-third of vinaigrette over asparagus; cover and chill 1 hour. Drain.
Grill asparagus, covered with grill lid, over medium-high heat (350° to 400°) 8 to 10 minutes or until crisp-tender; cool.
Toss together salad greens, remaining vinaigrette, and, if desired, bacon; mound onto 4 plates. Tie asparagus into 4 bundles with string. Cover string with orange rind strips.