1. Combine marinade ingredients in small bowl. Remove and reserve 2 Tbsp. of marinade. Place beef steaks and marinade in bag. Close plastic bag and marinate in refrigerator 15 to 2 hours.
2. Place asparagus in shallow microwave- safe dish; add water. Cover and microwave on high for 3-6 minutes or until crisp-tender. Drain asparagus. Add reserved 2 Tbsp. of marinade; toss to coat. Set aside.
3. Remove steaks; discard marinade. Place steaks on grid over medium, ash-covered coals. Grill, covered, 12-14 minutes for medium-rare doneness, turning once.
4. During last 3 minutes of grilling; arrange asparagus on grid around steaks; grill 2-3 minutes, turning once. Season steaks and asparagus with salt and pepper.