Lightly coat the asparagus with oil, arrange in a single layer on a rimmed baking sheet, and season lightly with salt and pepper.
Either roast the asparagus under an oven broiler on HI or over high heat on a grill. Check every few minutes to turn or roll, as needed, when lightly browned. Roast or grill until fork tender and browned in spots, about 10 minutes.
Brush with hoisin sauce and cook briefly to warm sauce. Remove from oven or grill and sprinkle with sesame seeds. Serve immediately.