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To make the sauce: In a small bowl, whisk together soy sauce, rice vinegar, honey, garlic, ginger and cornstarch. Set aside.
In a large skillet over medium high heat, drizzle olive oil and cook shrimp until it just starts to turn pink, about 3 minutes.
Add asparagus and season with a bit of salt and pepper. Cook until tender, about 2 to 3 more minutes.
Toss in your sauce and continue to cook until the sauce has thickened and shrimp and asparagus is coated, about 2 to 3 minutes.
Remove from heat and garnish with sesame seeds and black pepper, if desired. Serve immediately and enjoy!