You can steam the asparagus for 2 to 3 minutes (no longer) either in an electric steamer or in a saucepan with a collapsible steamer insert. If you don't have a steamer you can bring an inch of water to boil in a saucepan, add the asparagus and boil for 2 minutes. In all cases, remove the asparagus from the heat immediately and refresh it in cold water to stop the cooking process.