Snap off tough ends of asparagus spears. In 12-inch skillet or 4-quart Dutch oven, heat 1 inch water to boiling. Add asparagus. Heat to boiling; reduce heat to medium. Cover and cook 4 to 5 minutes or until asparagus is crisp-tender; drain.
In small bowl, mix maple syrup, mustard and oil. Drizzle over asparagus.