Steam asparagus, covered, 3 minutes. Drain and rinse with cold water.
Sprinkle shrimp with 1/8 teaspoon pepper and 1/8 teaspoon salt. Heat oil in a medium nonstick skillet over medium-high heat. Add shrimp; sauté 4 minutes. Remove from pan; place in a large bowl. Add asparagus, spinach, and beans to shrimp; toss well.
Add bacon to pan; cook over medium heat until crisp. Remove bacon from pan; crumble. Reserve 2 teaspoons drippings in pan. Add onions and garlic; cook 3 minutes or until soft, stirring frequently. Remove from heat; add remaining pepper, 1/8 teaspoon salt, bacon, broth, and the remaining ingredients. Drizzle dressing over salad; toss to coat. Serve immediately.