In a small bowl, combine Dijon mustard, oil, and garlic. In a small bowl, combine panko bread crumbs and 1 tablespoon of the mustard mixture.
Place asparagus in an ungreased 13-in. x 9-in. baking dish; drizzle with remaining mustard mixture. Sprinkle with bread crumb mixture and cheese.
Bake, uncovered, at 425° for 15 minutes or until golden brown.