1/2 cup soy sauce
1/2 cup rice wine vinegar
2 tablespoons toasted sesame oil
2 tablespoons honey
1 teaspoon peeled and grated fresh ginger
2 cloves garlic, minced
1/2 teaspoon lemon pepper
1 pound fresh asparagus, rinsed and snapped
1 pound pork tenderloin
1/2 cup peanut butter (smooth or crunchy)
Make the marinade by whisking together the soy sauce, vinegar, sesame oil, honey, ginger, garlic, and lemon pepper in a bowl, and reserve 1/2 cup of the mixture in a separate container.
Place the asparagus in a ziplock bag and pour in 1/4 cup of the marinade from the bowl. Work the bag gently with your fingers to distribute the marinade. Do the same with the pork tenderloin, using a second ziplock bag and the remaining marinade from the bowl. Let the meat and vegetables marinate at room temperature for 30 minutes. Meanwhile, prepare a charcoal fire or heat a gas grill to medium-high, and oil the grates.
Add the peanut butter to the reserved marinade and whisk the mixture until smooth.
Grill the tenderloin for 3 to 4 minutes on each side, rotating it a quarter turn at a time, until the internal temperature registers 145° in the center. Remove the meat from the grill and let it rest for about 5 minutes (the internal temperature will rise to 150°). Meanwhile, grill the asparagus spears for 2 minutes per side.
Slice the pork diagonally into 1- to 2-inch slices. It should be juicy and slightly pink inside. Serve the meat and the asparagus with the peanut dipping sauce.