Heat oven to 400°F. Spray a rimmed baking sheet with cooking spray.
Wrap 3-4 asparagus spears with 1 slice of bacon, tuck in the ends and lay seam down on the baking sheet.
Cook asparagus for 5 minutes, remove and turn over, cook for an additional 5 minutes or until stalks are soft and tips are crispy and bacon has cooked.
While asparagus cooks, whisk the honey, soy sauce, garlic powder, salt and pepper in a small mixing bowl.
Remove from the oven and glaze with honey mixture. Pop back into the oven for several minutes to caramelize.
Sprinkle with sesame seeds and serve.
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Notes
If you liked the tips of asparagus to be a little crispy and crunchy, turn the broiler on high for 2-3 minutes at the end of cooking. Watch carefully as the broiler can burn food super fast!