2 large tangerines or navel oranges, peeled and sectioned
3 tablespoons finely chopped dry roasted peanuts
1 green onion, thinly sliced
For dressing, in a small bowl, whisk the first six ingredients; set aside. Toss asparagus with olive oil; place on a grilling grid. Transfer to grill rack.
Grill, covered, over medium heat for 3-4 minutes on each side or until crisp-tender. Place asparagus and tangerine sections on a serving platter; drizzle with dressing. Sprinkle with peanuts and onion.