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Mix orange juice, olive oil, soy sauce, ground mustard and sugar in small bowl with wire whisk until well blended
Toast sesame seeds in small nonstick skillet on medium-high heat 2 minutes or until white sesame seeds are golden brown, shaking pan frequently. Immediately pour out of skillet to avoid over-toasting
Steam asparagus 3 to 4 minutes or until tender-crisp
Place asparagus on platter; pour dressing over top. Sprinkle with toasted sesame seeds