Step 1: Snap tough ends off asparagus spears and peel if needed. Steam spears until just tender, 2-3 minutes. Rinse under cold water to stop the cooking.
Step 2: Combine vinegar, oil, honey and soy sauce. Arrange asparagus in one layer in a shallow dish. Pour the marinade over the spears and chill, covered, for 3-5 hours or overnight.
Step 3: Before serving, place the sesame seeds in a small, dry skillet and toast them lightly over medium heat until light golden brown.
Step 4: Place the asparagus on a serving plate, and drizzle with some of the marinade. Sprinkle toasted sesame seeds over the asparagus and garnish with lemon.
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