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, in an oven at 400°F, 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, 8-10 minutes.
Drizzle with hoisin sauce and sprinkle with sesame seeds. Serve immediately.