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Preheat oven to 400°F. Place asparagus on a large rimmed baking sheet. Drizzle with 1 tablespoon oil, sprinkle with salt and toss to coat. Roast, uncovered, for 15 to 20 minutes, until crisp-tender, tossing once. Transfer to a serving platter.
Meanwhile, shred enough zest from one orange to equal 1 teaspoon; set aside. Juice half an orange. Peel, then slice, the remaining half and whole orange into rounds. In a jar with a tight-fitting lid, combine orange zest, orange juice, garlic, mustard, fennel seeds, the remaining 2 tablespoons oil and the vinegar. Cover and shake to combine.
Drizzle a little of the dressing on the asparagus; toss to coat. Carefully toss in orange slices. Pass any remaining dressing.