Heat vegetable oil in a large nonstick skillet over medium-high heat. Add onion; sauté 1 minute. Add ginger, orange rind, and garlic; sauté 1 minute. Add fish; cook 3 minutes on each side or until lightly browned, stirring onion mixture in pan constantly to prevent burning. Sprinkle fish with lemon rind and juice.
Combine soy sauce, vinegar, honey, sesame oil, and salt in a medium bowl; add asparagus and cashews, tossing well to coat. Add asparagus mixture to pan; cook 4 minutes or until fish flakes easily when tested with a fork. Sprinkle with cilantro; serve over rice. Garnish with orange rind strips, if desired.