Preheat oven to 400°. Snap off and discard tough ends of asparagus; place asparagus on a lightly greased baking sheet. Whisk together orange juice, olive oil, and next 4 ingredients; drizzle mixture over asparagus, tossing to coat.
Bake at 400° for 15 minutes or to desired degree of tenderness, turning once after 8 minutes. Garnish, if desired.