Preheat oven to 375°.
Place bread in a single layer on a baking sheet. Bake at 375° for 10 minutes or until toasted. Rub cut sides of garlic over one side of each bread slice. Place bread slices in a food processor; pulse 10 times or until bread is coarsely ground. Arrange breadcrumbs in a single layer on a baking sheet; bake at 375° for 5 minutes or until golden brown. Transfer breadcrumbs to a bowl.
Melt butter in a small saucepan over medium-high heat. Cook 1 to 2 minutes or until butter is lightly browned, shaking pan occasionally; remove from heat. Drizzle butter over toasted breadcrumbs; toss well to coat.
Combine vinegar, oil, 1 teaspoon rind, lemon juice, and shallot; stir well with a whisk. Stir in salt and pepper.
Bring water to a boil in a large skillet. Snap off tough ends of asparagus; add asparagus to pan. Cook 5 minutes or until tender, stirring constantly. Place asparagus on a serving platter. Drizzle with vinaigrette; top with breadcrumb mixture. Garnish with 1 teaspoon grated lemon rind, if desired. Serve immediately.