Preheat oven to 425 degrees F. Snap off and discard woody bases from asparagus. Arrange asparagus in a 3-quart rectangular baking dish. In a small bowl, combine broth and mustard. Pour over asparagus, turning to coat.
Bake for 15 to 20 minutes or until asparagus is crisp-tender. Transfer to a serving dish. Sprinkle with cheese and pepper.