Combine vinegar, soy sauce, honey, canola oil, grated garlic, salmon, and asparagus; toss. Thread fish, asparagus, and lemon slices alternately onto skewers. Coat with cooking spray; sprinkle with salt and pepper. Place skewers on a grill rack coated with cooking spray. Grill 6 minutes or until done, turning skewers occasionally for an even char.
Note: If using wooden skewers, soak them in water for 20 minutes before grilling.
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