1. Combine marinade ingredients in small bowl. Remove and reserve 2 tablespoons. Place steaks and remaining marinade in food-safe plastic bag; turn steaks to coat. Close bag securely and marinate in refrigerator at least 2 hours.
2. Place asparagus in shallow microwave-safe dish; add 1/2 cup water. Cover and microwave on HIGH 3 to 6 minutes or until crisp-tender. Drain asparagus. Add reserved 2 tablespoons marinade to asparagus; turn to coat. Set aside.
3. Remove steaks from marinade; discard marinade. Place steaks on grill over medium heat. Grill, covered, 12 to 14 minutes for medium rare turning once.
4. During last 3 minutes of grilling, arrange asparagus on grill around steaks; grill 2 to 3 minutes, turning once. Season steaks and asparagus with salt and pepper.
4 sirloin steaks (about 8 ounces each)
1 pound fresh asparagus
1/2 teaspoon salt
1/8 teaspoon pepper
For the Marinade:
2/3 cup prepared balsamic vinaigrette
2 tablespoons Dijon-style mustard