Step 1Clean your AsparagusRinse the asparagus under cold running water and pat dry. If desired, peel the bottom of the asparagus with a vegetable peeler. Remove the tough end. To find this, hold the asparagus about midway between the tip and the bottom and bend, the asparagus should break where the tender top meets the more fibrous bottom. Trim with a knife if you like a neat bottom.

Step 2Place the asparagus stalks into a zip-top bag, add the oil along with salt and pepper to taste. Shake to mix well. 

Heat your grill pan, grill, or broiler to high heat. If using the broiler, put the asparagus on a cooking sheet; otherwise, just place the asparagus onto the grill pan or grill. Grill, turning often (broiler, shake the pan once or twice while under the heat) until the asparagus are beginning to brown and become tender, 5 - 7 minutes for crisp-tender. Add the sesame seeds and toss well. Serve hot or at room temperature.