Light a grill. In a shallow dish, whisk the mayonnaise with the mustard, oil, lemon juice, lemon zest, garlic, salt and pepper. Add the asparagus and turn to coat. Let stand at room temperature for 30 minutes.
Grill the asparagus over moderately high heat, turning occasionally, until the spears are tender and lightly blistered in spots, about 6 minutes. Serve the asparagus hot or at room temperature.
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Review Body: Here is my impression. First, I don't have a grill, so I did this in the oven to the point where the tips were crispy. I felt like the mustard was overpowering and the flavor of the asparagus was too masked. I like the taste of asparagus and I like mustard, but only as something that adds to the flavor, not IS the flavor. So I wasn't too keen on eating it and getting the feeling like I just dipped this spear in a whole bunch of mustard. I will eat what I made, but I will probably not make this again.