Start by heating your wok or skillet over medium-high heat until it shimmers gently, signaling it's hot and ready for quick cooking.
Add a tablespoon of oil and swirl to coat the bottom of the pan, then toss in the sliced mushrooms. Spread them out evenly and cook for 2-3 minutes, letting them brown and release a fragrant, smoky aroma.
Push the mushrooms to one side of the pan, then add the minced garlic to the empty space. Stir quickly, cooking for about 30 seconds until fragrant and spicy-smelling.
Add the chopped asparagus to the pan, arranging them in a single layer if possible. Stir-fry for 2-3 minutes, watching for the asparagus to turn bright green and develop slight charred tips, indicating they're tender yet still crisp.
Pour the soy sauce over the vegetables, tossing everything together to coat evenly. Continue stir-frying for another minute until the sauce glistens and slightly thickens, clinging to the vegetables.
Remove the pan from heat, then squeeze fresh lemon juice over the stir fry to add brightness. Sprinkle with toasted sesame seeds if using, and give everything a final gentle toss.
Serve immediately while hot, enjoying the vibrant colors, crisp textures, and smoky aroma of this quick, seasonal dish.