Combine first 4 ingredients in a small bowl; set aside. Snap off tough ends of asparagus; cut into 3-inch pieces, and place in a large bowl. Add peas, bell pepper, and onions; set aside.
Heat oil in a large nonstick skillet over medium-high heat. Add ginger, salt, and garlic; stir-fry 30 seconds. Add vegetable mixture; stir-fry 3 minutes.
Add hoisin sauce mixture; stir-fry 1 to 2 minutes or until thick and vegetables are crisp-tender. Remove from heat, and stir in cilantro.