Combine 'Marinade' ingredients and let set for about 5 minutes while you prepare the asparagus.
Pre-cook your asparagus by wrapping it in a wet paper towel and cooking in the microwave on high for 1 minute. Cut into 2" strips.
In a small bowl, combine the sauce ingredients and set aside.
In a large wok or pan, heat 3 tablespoons of oil. Add the marinated ground beef in large chunks, do not break up as you want it to be like little bites of hamburger. Cook on medium-high until brown.
Add the asparagus and sauce mixture. Cook for an additional 1 - 2 minutes.
Add the remaining 1 1/2 tablespoons of vegetable oil and the rice. Cook, stirring constantly for about 2-3 minutes, or until rice is piping hot and everything is well blended. Serve hot as a main dish or side dish.
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