In a small bowl, combine vegan mayo, miso paste, lime juice, lime zest and toasted sesame oil. Mix well and set it aside.
Next, prepare the asparagus. Rinse the asparagus under running water to clean. Pat dry them with a towel to remove excess water.
Snap off the bottom (tough part) of asparagus where it naturally breaks. Then, trim off the end to have a clean cut (optional.) For thick asparagus, you may partially shave the peel using a vegetable peeler. Tips: the cut-off bottoms can be perfect for making asparagus soup. Save and freeze them!
Coat the asparagus with extra virgin olive oil then season with salt and black pepper. Give a quick toss to coat evenly.
Heat up a grill pan at medium high heat. Cook the asparagus in a single layer (don’t overcrowd the grill pan. Leave them on one side to get a good char and turn to cook the other side. It should take about 5 to 10 minutes to cook and get charred depending on the thickness. Repeat the process, if you cook in a few batches.
Serve immediately with the miso mayo dip on the side with a sprinkle of shichimi pepper for the spice and aroma.