Preheat oven to 425 F. Spread sesame oil in foil-lined baking pan. Wash asparagus and break off stalks as far down as they snap easily, 1 to 2 inches from ends. Roll asparagus in sesame oil. Sprinkle with sesame seed. Arrange asparagus in single layer.
Roast in oven 10 minutes or until tender-crisp.
Mix vinegar, sugar, soy sauce and red pepper in small bowl. Remove asparagus from oven; place on serving platter. Drizzle with soy sauce mixture.