On a baking sheet covered in foil, put 6 slices of bacon. Put sheet in cold oven, then turn on preheat to 400. Allow bacon to slowly cook for about 10-12 minutes. It should still be rather rare but partially cooked. Take it out and put it aside. Important: KEEP THE FOIL, do not throw it away - see below.
Meanwhile, put the other ingredients including asparagus into a gallon size ziplock bag and shake to coat thoroughly.
Wrap 4-5 stalks of asparagus about halfway down with the bacon. Place seamside down on the same foil and sheet you cooked the bacon on (right on the bacon grease spots). Cook for 10-20 minutes at 400 degrees, depending on how tender you want your asparagus (I like super tender at 20 minutes).