Peel the asparagus if necessary and cook the stalks in lightly salted water for 4 to 8 minutes, depending on the thickness, or until fork tender but still firm. Drain under cold water and set the stalks aside in serving dish. Combine the remaining ingredients and whisk them vigorously. Taste for seasoning and add more vinegar or salt and pepper if needed. Pour the dressing over the asparagus and let it rest for at least 15 minutes before serving. Serve at room temperature.