Snap off and discard woody bases from fresh asparagus. If desired, scrape off scales. In a medium covered saucepan cook fresh asparagus in a small amount of boiling water for 4 to 6 minutes or until crisp-tender. (Or, cook frozen asparagus according to package directions.) Drain; keep warm.
Meanwhile, in a small bowl combine the yogurt, mayonnaise dressing or salad dressing, orange peel, and ground red pepper. Spoon over hot asparagus. If desired, garnish with orange slices. Makes 4 servings.