1. Preheat oven to 450°.
2. Combine first 4 ingredients in a small bowl; set aside.
3. Snap off tough ends of asparagus. Place asparagus on a baking sheet; coat with cooking spray, and sprinkle with salt and pepper.
4. Bake at 450° for 7 to 9 minutes or until asparagus is tender and lightly browned. Transfer asparagus to a serving dish; toss with soy sauce mixture. Sprinkle with toasted sesame seeds.