In microwavable pie plate, place asparagus spears; cover with microwavable plastic wrap and cut 1-inch slit in center of wrap. Microwave on High 2 to 3 minutes or until asparagus is crisp-tender; set aside.
Meanwhile, in 2-quart saucepan, mix remaining ingredients except muffins; cook over medium heat, stirring occasionally, until thoroughly heated.
Place 1 muffin half on each plate. Top each evenly with asparagus spears and ham mixture.