In nonstick 12-inch skillet, toast sesame seeds over medium-high heat until fragrant and golden, about 4 minutes. Transfer to small bowl.
To same skillet, add olive oil and heat until hot. Add asparagus, garlic, and soy sauce, and cook, stirring, until asparagus is tender-crisp, 6 to 8 minutes. Toss with sesame oil and sprinkle with sesame seeds before serving.