Steam asparagus. Place a steamer in a pot with the water level just below it. Over high heat, bring the water to a boil and then add the asparagus to the rack and cover. Reduce the heat to low and steam just until tender but not soft, about 8 minutes. Drain the asparagus and add it to the bowl of ice water immediately. Once it’s cool, drain the asparagus spears again, and place them on the towel-lined plate to dry. Set aside.