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Place asparagus in a shallow pan and coat lightly with cooking spray. Sprinkle with salt and pepper.
Grill the asparagus on the greased rack of an uncovered charcoal grill directly over medium coals for 4 to 6 minutes or until crisp-tender, turning occasionally. (For a gas grill, preheat grill. Reduce heat to medium. Place asparagus on greased grill rack over heat. Cover and grill as above.)
Transfer the asparagus to a serving platter. Coat lightly with cooking spray. Sprinkle with goat cheese and pine nuts.