Bring the water to a boil in a large saucepan. Add asparagus; cook 4 minutes or until crisp-tender. Remove with a slotted spoon. Plunge into ice water, and drain. Add the shrimp to boiling water; cook 3 minutes or until shrimp are done. Drain and plunge into ice water; drain.
Place the asparagus, shrimp, and bell pepper in a large bowl; chill.
Combine miso and lemon juice; stir with a whisk until smooth. Add orange rind and the remaining ingredients; stir well. Pour over asparagus mixture; toss well to coat.