Perfectly steamed asparagus should be slightly crunchy but not raw, cooked through but not limp and above all, GREEN. An All-Clad Asparagus Steamer is a luxury well worth the money. Put the asparagus in the basket, drop the basket in the pot, then bring a few inches of water to the boil. Put on the lid with just a crack for escaping steam. Lower the heat so that the water simmers and steam the asparagus for 7 minutes. Check on your asparagus after about five minutes. Take them off the heat when they are bright green, bend-y, slightly al dente but not soft/limp. Nothing is worse than limp asparagus.
