Put asparagus to boiling, salted water (about 1-inch deep) and cook, covered, about 2-3 minutes or until crisp-tender. Drain.
Meanwhile, combine thyme, beer, mustard, honey, garlic, thyme, pepper and salt in a small saucepan; mix well. Heat over medium-high heat just until boiling. Remove sauce from heat. Pour sauce over hot, cooked asparagus.