1. Snap off tough asparagus ends and, if large, peel stalks. Arrange in a single layer in baking dish. Drizzle with oil; roast in oven, stirring occasionally, for 15 minutes.
2. In a bowl combine soya sauce and balsamic vinegar; drizzle over asparagus. Roast 5 minutes more or until tender-crisp. Remove from oven; sprinkle with sesame seeds and sesame oil, if using.