Make the soy-garlic aioli sauce by combining the mayonnaise, soy sauce, and minced garlic, to taste, mix together until well combined. Set aside to allow flavors to mingle.
Heat the grill pan over medium heat.
Toss the asparagus with some sesame oil, sea salt, freshly cracked pepper, and garlic powder, to taste.
Place the asparagus into the grill pan and cook for 3-4 minutes then flip and cook for another 2-3 minutes or until tender.
Place the asparagus spears on a serving plate and sprinkle with some toasted sesame seeds then serve with the aoili on the side as a dipping sauce.
Serve immediately. Enjoy.