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Preheat oven to 425°F. Snap off and discard woody bases from asparagus. Arrange asparagus in a 3-quart rectangular baking dish. In a small bowl, combine broth and mustard. Pour over asparagus, turning to coat.
Bake, uncovered, for 15 to 20 minutes or until asparagus is crisp-tender. Transfer to a serving dish. Sprinkle with cheese and pepper.