Nothing with bacon wrapped around it can ever be bad and this is a case in point. The snap of the asparagus paired with the sweet of the miso all combined in a little bacon wrapper and roasted in the oven is simple and delicious.
Preheat the oven to 400°F.
Peel the asparagus stalks and halve each spear crosswise. Place an asparagus tip and stalk across each bacon strip, then roll them up and secure with a bamboo toothpick, pushing the toothpick through both pieces of asparagus.
In a small mixing bowl, combine the miso, mirin, sugar, and lemon juice and whisk to combine. Arrange the asparagus bundles on a rimmed baking sheet, brush with the miso glaze, and bake until the asparagus is crisp-tender, about 10 minutes. Sprinkle with the sesame seeds and bake until the bacon is cooked and slightly crispy around the edges, about 5 minutes longer.
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