Use a vegetable peeler to trim any tough parts of the asparagus stalks. Pour about 2 inches of water into a large saucepan and bring to a boil. Add the asparagus, cover, and cook until tender, 3 to 7 minutes (depending on size). Drain and transfer to a platter. Meanwhile, in a small bowl, combine the vinegar, soy sauce, and oil. Spoon the dressing over the asparagus and sprinkle with the sesame seeds.