Cut the asparagus lengthwise into paper-thin ribbons using a vegetable peeler. Reserve the remaining thicker portions for another use.
Peel and section 2 oranges. Combine the asparagus ribbons, orange sections, arugula, beans, and olives in an extra-large bowl.
Grate 1 teaspoon of zest and squeeze ½ cup of juice from the remaining oranges. Whisk the orange zest and juice, vinegar, tahini, mustard, and pepper in a small bowl. Season with salt and drizzle over arugula mixture; toss to coat.
