Bring 6 cups water to boil in large saucepan. Add rice; return to boil. Reduce heat to medium; cook, uncovered, 12 to 15 minutes or until rice is tender with a little bite in the center, stirring occasionally. Drain rice, reserving 1 cup of the liquid. Return rice to saucepan. Cover to keep warm.
Meanwhile, heat large skillet on medium heat. Add sesame seed; cook and stir 3 minutes or until golden. Immediately pour out of hot pan to avoid over-toasting.
Heat oil in same skillet. Add garlic; cook and stir on medium heat about 1 minute. Add mushrooms; cook and stir about 5 minutes or until lightly browned and tender. Add asparagus; cook and stir 3 to 4 minutes or until tender-crisp.
Stir vegetables, Parmesan cheese, toasted sesame seed and salt into rice. Stir in reserved liquid, 1/4 cup at a time, until desired creaminess.