I love asparagus, and you don't have to cook it til it's mush. My favorite ways to make it are to steam it or roast it.
To roast, I leave it whole, breaking off any woody ends. Spray with a little cooking spray and sprinkle with seasoning and roast at 400 degrees. It usually takes only 10 - 15 minutes, but you might want to start checking it around 7 or 8 minutes to make sure it's not too soft for your tastes.
To steam, I put the asparagus in a large skillet with only about 1/2 inch of water on medium heat for about 10 minutes (covered).
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