Snap off and discard tough ends of asparagus; arrange asparagus in a steamer basket over boiling water. Cover and steam 2 to 4 minutes or until asparagus is crisp-tender. Plunge asparagus into ice water to stop the cooking process; drain and cut into 1-inch pieces.
Arrange salad greens on a serving platter; top evenly with asparagus, grapes, and next 4 ingredients. Serve with vinaigrette.