Preheat oven to 400 degrees. Divide asparagus into six bundles, (about 3-4 pieces per bundle), and carefully wrap a piece of bacon around each bundle, laying it on prepared baking pan with the ends of the bacon secure on the pan so bacon stays in place.
Combine the rest of the ingredients to make a sauce in a small bowl. Microwave for 1 minute to thicken sauce, (or combine in a small sauce pan and bring to a boil over medium high heat for about 1 minute to thicken).
Pour this mixture over the asparagus bundles and place the dish in the preheated oven. Bake for 25 minutes, then increase the heat to broil and set timer for 2-5 minutes, watching carefully and turning often, until the bacon is crisp.