Barbecued Asparagus Adding sauce to asparagus then grilling imparts a rich, nutty flavor to the veggie. This is actually my favorite way to serve it. It doesn’t taste so much like… well, like asparagus. ¾ c barbecue sauce 2 tbsp Worcestershire sauce 2 tbsp soy sauce 1 tsp Dijon mustard asparagus (enough for 4 to 6 servings) Pre-heat grill. Combine sauces and mustard in a small bowl or jar and blend well. Brush sauce over asparagus. Place asparagus, uncovered, on grill for three to five minutes or until tender, rotating once. Note: Try to use asparagus that are all of the same thickness so they cook evenly