Bring a large pot of salted water to boil. Add the asparagus and cook for 2-3 minutes or until crisp-tender. Remove from the water and plunge into ice water immediately.
Combine the maple syrup, olive oil, Dijon mustard, red wine vinegar, and minced garlic together; mix well.
Heat a skillet over medium heat and coat it with cooking spray. Add the asparagus spears to the skillet along with the maple syrup mixture. Toss to coat evenly and cook until heated through, about 1 minute. Remove from the skillet and serve immediately. Enjoy.