Preheat oven to 400°. Arrange asparagus in a single layer on baking sheet; coat with cooking spray or drizzle with olive oil and toss. Sprinkle with salt and pepper. Bake at 400° for 12 minutes or until tender.

Melt the butter in a small skillet over medium heat; cook for 3 minutes or until lightly browned, shaking pan occasionally. Make sure not to burn it just get it to a point where the butter has a nutty smell. Remove from heat and pour in a bowl so it stops cooking; stir in soy sauce and vinegar. Drizzle over the asparagus, tossing well to coat. Serve immediately.