Stir together oil and next 7 ingredients in an 11- x 7-inch baking dish. Add asparagus, and toss to coat.
Bake, covered, at 375° for 35 minutes, turning asparagus once. Remove with a slotted spoon, and serve with Red Pepper Sauce.
*2 (10-ounce) packages frozen asparagus, thawed, may be substituted.