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Snap off and discard woody bases from asparagus; set aside.
Rub pepper into steak. In a small bowl, combine mustard, vinegar, garlic and salt. Spread half of the mixture over steaks, and toss remaining half with asparagus.
For a charcoal grill, grill steak on the rack of an uncovered grill directly over medium coals for 11 to 15 minutes for medium rare and 14 to 18 minutes for medium, turning once halfway through grilling and adding asparagus for the last 8 minutes of grilling. (For a gas grill, preheat grill. Reduce heat to medium. Add steaks; cover and grill as above.)
Serve steak with asparagus, topped with shavings of cheese.