Combine first 4 ingredients in a bowl.
Heat 1 teaspoon oil in a large nonstick skillet over medium-high heat; add tofu. Cook 3 minutes or until lightly browned; set aside. Heat 1 teaspoon oil in pan; add shrimp. Cook 2 minutes on each side or just until opaque; set aside. Heat remaining 1 teaspoon oil in pan; add mushrooms, onion, ginger, and garlic. Cook 2 minutes or until mushrooms are tender, stirring frequently. Add asparagus; cook 4 minutes or until crisp-tender. Add sauce, tofu, and shrimp back to pan; cook 1 minute or until heated.