Preheat oven to 450°.
Snap off tough ends of asparagus. Cut into 1 1/2-inch pieces; trim and place in a large bowl. Add garlic and 1 teaspoon olive oil; toss well. Line a jelly roll pan with foil; coat foil with cooking spray. Spread asparagus mixture in a single layer.
Bake at 450° for 8 to 10 minutes or until asparagus is crisp-tender.
Combine remaining 2 teaspoons oil, vinegar, and remaining ingredients in a serving bowl. Add asparagus mixture; stir until asparagus is coated. Cover and chill at least 2 hours.