Preheat the oven to 450 degrees F. Line a baking sheet with parchment paper or foil. Transfer asparagus spears to sheet.
In a small bowl, whisk together the sesame oil, soy sauce, sriracha, and garlic. Use a brush to coat the spears. Sprinkle spears with sesame seeds. Bake for 10-12 minutes or until spears are crispy. Depending on how crispy you want them, you can choose to bake for 15 minutes.