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1 As soon as the water comes back to a boil, cook the asparagus for exactly 2 minutes (or 1 minute if your asparagus is very thin; up to 3 minutes if your asparagus is very thick).
You want the steam to cook the asparagus, not the hot water â that would be boiling! Cover the asparagus, and let it steam until it's cooked to your liking. It'll take 5 to 15 minutes, depending on how thick the asparagus is and how tender you like it. You can leave a little vent for steam to escape.reparation Steps. Before we look at how to steam asparagus, there a few preparation steps we need to look at. Asparagus is one of the easiest vegetables to prepare, but if you don't do it right, you can end up with tough, woody vegetables, and that's not really all that great.