Prepare the grill. Snap off tough ends of asparagus; place in a bowl or shallow dish. Drizzle asparagus with oil; sprinkle with salt and pepper, tossing well to coat. Place asparagus on a grill rack coated with cooking spray; grill 2 minutes on each side or until crisp-tender. Place asparagus in a dish; drizzle with balsamic vinegar. Serve immediately.
Yield: 4 servings