I have yet to try this but hear it is very tasty
Ingredients:
• 1 pound asparagus
• 3 tablespoons balsamic vinegar
• 2 tablespoons fresh lemon juice
• 1 tablespoon olive oil
• 1 tablespoon low-sodium soy sauce
• 1/8 teaspoon black pepper
• Cooking spray
Directions:
Snap off tough ends of asparagus. Combine all ingredients except cooking spray in a large zip-top plastic bag; seal and marinate for 30 minutes. Remove asparagus from bag, and discard marinade. Place asparagus on grill rack coated with cooking spray; grill 5 minutes on each side or until asparagus is done. Yield: 4 servings.