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HEAT oil in large skillet or wok on medium-high heat. Add garlic; stir fry 30 seconds or until fragrant. Add asparagus and bell pepper; stir fry 2 minutes. Add water; cover and cook 5 minutes or until vegetables are tender-crisp. Add tofu, soy sauce, chili sauce and sesame oil; stir fry until heated through.
MEANWHILE, bring large pot of water to boil. Add rice noodles; cook 3 to 5 minutes or until noodles are tender but firm. Drain well. Immediately place warm noodles in large bowl. Add vegetable mixture and sesame seeds; toss well.