Prepare the vegetables: Rinse the asparagus and mushrooms under cold water. Trim the bottoms of the asparagus stems and cut them into 1-inch pieces. Slice the fresh mushrooms into slices.
Heat the skillet: In a large skillet or a wok, heat the cooking oil over medium-high heat. Add the minced garlic and cook until fragrant, about 20 seconds.
Sauté the vegetables: Add the asparagus pieces to the skillet and cook for 4-5 minutes, stirring occasionally. Then, add the sliced baby bella mushrooms and continue to sauté until the vegetables are tender and slightly browned, about 2 minutes more.
Seasonings: Sprinkle the sautéed vegetables with light soy sauce, coconut sugar(optional), sesame oil (optional), salt, and black pepper.
Serve immediately: Garnish the dish with toasted sesame seeds. Transfer the sautéed asparagus and mushrooms to a serving dish and serve with white steamed rice or as a side dish with your favorite main courses. Enjoy!