not sure if this was mentioned yet, but if your asparagus is any bigger than the really skinny stuff, then you should def peal it. The skin on thicker asparagus can be quite fiberous and unpleasant to chew through.

Someone mentioned sauteing the veg then pouring water on to sort of steam it to prevent burning. This is fine and all but I would highly suggest steaming/blanching the aspargus first then sauteing it. Otherwise you are just rinsing away the carmelization that you have achieved, thus rendering the whole sauteing step pointless.