Quick Skillet Asparagus Recipe My. Recipes Heat a large cast iron or nonstick skillet over medium high heat. Add oil to pan swirl to coat. Moo Shu Chicken Recipe. Add asparagus to pan cook 3 minutes or until asparagus is crisp tender and browned, stirring frequently. Transfer to a serving platter. Add rind, juice, and salt, tossing to coat. How To Cook Asparagus On The Stove' title='How To Cook Asparagus On The Stove' />Cooking with Asparagus Article Cooking with asparagus can range from recipes prepared in the oven, on the stove top, on the grill or even in the microwave. Quick Skillet Asparagus. Reviews. ADD YOUR REVIEW. Yield. Add asparagus to pan cook 3 minutes or until asparagus is crisptender and browned, stirring frequently.