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1. Thaw shrimp, if frozen. Halve each zucchini lengthwise. Place each half, cut side down, on a board and cut into long, thin strips. Set aside. Snap off and discard woody bases from asparagus. Cut asparagus diagonally into 1-inch pieces.
2. Place asparagus in a steamer basket over gently boiling water. Cover and steam for 2 minutes; add zucchini and steam for 2 to 3 minutes more or until vegetables are just crisp-tender (dont overcook). Drain well; keep warm.
3. Meanwhile, in a large skillet cook jalapeno, ginger, and garlic in cooking oil over medium-high heat for 30 seconds. Add shrimp. Cook over medium-high heat for 2 to 3 minutes or until shrimp turn pink, stirring often. Stir in cilantro, sesame seed, sesame oil, salt, and pepper. Add zucchini and asparagus to skillet; toss gently to coat. Transfer to a serving platter. If desired, sprinkle with additional cilantro and/or sesame seed. Makes 4 main-dish servings.