Cook orzo according to package directions, omitting salt and fat.
While orzo cooks, steam asparagus, covered, 2 minutes or until crisp-tender. Rinse asparagus with cold water; drain well, and pat dry with paper towels.
Drain orzo, reserving 2 tablespoons cooking liquid. Combine orzo, asparagus, tomato, beans, and cilantro in a large bowl. Combine reserved 2 tablespoons cooking liquid, vinegar, oil, and next 3 ingredients in a small bowl; stir with a whisk. Pour dressing over salad; toss gently. Sprinkle with cheese.