Preheat oven to 400 degrees F (200 degrees C). Cover a pan with foil and coat with Nonstick Cooking Spray (as needed).
Trim the ends off of Asparagus (1 bunch).
Mince the Garlic (1 clove).
Place the asparagus on the pan and spread out evenly. Add minced garlic and season with Salt and Pepper (to taste). Bake for 12 minutes or until tender.
Melt Butter (2 tablespoon) in a pan with Balsamic Vinegar (1 teaspoon) and Soy Sauce (1 tablespoon) over low heat. Set aside.
When ready to serve, pour the sauce over the asparagus and serve.