Whisk together all the vinaigrette ingredients in a bowl and set aside. Coat the asparagus with the olive oil and season with salt and pepper. Grill for 2 or 3 minutes. (Or, if you prefer, blanch the asparagus for 2 to 3 minutes in boiling water, shock in ice water, and drain.)
Stack the asparagus in an upright triangle on each plate (or arrange it as you wish), and spoon the vinaigrette over.