Snap off tough ends of asparagus.
Heat olive oil in a large nonstick skillet coated with cooking spray over medium-high heat. Add asparagus, rind, garlic, and rosemary; sauté 3 minutes or until asparagus is lightly browned.
Add 1/2 cup water to pan; cook 5 minutes or until asparagus is crisp-tender and liquid almost evaporates. Discard rind and rosemary. Sprinkle asparagus with salt and pepper; toss well.