Heat 1 tablespoon oil in a large skillet over medium high heat until hot. Add asparagus. Sprinkle with sea salt and black pepper. Cook and stir until blistered and cooked through. (Footnote 1) Transfer to a serving plate.
Add the other 1 tablespoon oil and shrimp. Cook for 30 seconds. Stir and cook until the surface of the shrimps are just cooked but the insides are still a bit transparent. Remove the pan from the stove and pour in the pre-made orange sauce.
Transfer the shrimp and the sauce onto the asparagus.
Serve warm over steamed rice.
If you use young asparagus, you can brown and cook it through at the same time. If you use asparagus that has very thick stalk, add a tablespoon water, cover the pan, and steam for a minute to quickly soften it.