Cook asparagus in boiling water about 4 to 5 minutes or until crisp-tender. Plunge asparagus into ice water to stop the cooking process; drain, cover, and chill 2 hours.
Whisk together sesame oil and next 3 ingredients. Chill 2 hours.
Arrange asparagus on a serving dish; spoon dressing evenly over top. Sprinkle with sesame seeds.