Combine first 9 ingredients in a small bowl. Stir in 1/8 teaspoon salt and 1/8 teaspoon pepper.
Arrange asparagus on a grill rack coated with cooking spray; grill 8 minutes or until crisp-tender, turning twice. Sprinkle asparagus with the remaining 1/8 teaspoon salt and remaining 1/8 teaspoon pepper. Divide asparagus evenly among 6 plates, and top each serving with about 2 tablespoons parsley mixture.