Preheat oven to 425 degrees F. Cut the dry woody ends of the asparagus and discard.
Place asparagus in large bowl and add sesame oil and minced garlic, toss to combine. Arrange spears on large baking sheet and generously sprinkle with sesame seeds. Season with a good amount of salt and black pepper.
Place in oven for 15-20 minutes or until spears reach desired consistency, They should still be crisp. Remove from oven and transfer to serving plate to serve immediately.