Preheat oven to 450°.
Snap off tough ends of asparagus. Arrange asparagus in a single layer on a jelly-roll pan coated with cooking spray; brush with sesame oil. Bake at 450° for 10 minutes or until crisp-tender. Remove pan from oven. Add vinegar, sesame seeds, and red pepper to asparagus, tossing gently to combine. Place asparagus on a platter; sprinkle with salt and black pepper. Top with cheese.