Snap off tough ends of asparagus. Remove scales from stalks with knife or vegetable peeler, if desired. Cook asparagus, uncovered, in boiling water to cover 5 minutes or until crisp-tender. Drain and set asparagus aside.
Melt butter in large skillet over medium heat. Add garlic; saute 1 minute. Remove garlic. Add orange rind and orange juice to butter in skillet. Add asparagus; cook until asparagus is thoroughly heated.
Transfer asparagus spears to serving platter. Spoon orange juice mixture over asparagus. Sprinkle with salt and pepper.
Peel orange, removing white pith. Cut orange into 6 thin slices. Cut each orange slice in half. Arrange on platter with asparagus. Serve immediately.