Wash the asparagus and snap off the tough ends. Pat dry with paper towels.
Preheat a grill pan over medium heat and lightly brush with sesame oil.
Grill the asparagus for 2-3 minutes per side, or until slightly charred and tender-crisp.
Meanwhile, prepare the dressing: whisk together the soy sauce, sesame oil, grated ginger, minced garlic, lime juice, honey, salt, and pepper in a small bowl.
Toast the sesame seeds in a dry skillet over medium heat for 1-2 minutes, or until golden brown.
Transfer the grilled asparagus to a serving platter, and drizzle with the sesame dressing. Sprinkle with toasted sesame seeds before serving.
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