In a small bowl stir together the soy sauce, rice vinegar, and ginger. Set aside.
In a 12-9nch skillet over medium-high heat toast the sesame seeds until golden, about 4 minutes. Transfer to a small bowl.
In the same skillet, heat the vegetable oil over medium-high heat until hot. Add the asparagus and cook until tender-crisp, stirring frequently, about 5 minutes. Add the tomatoes and cook 2 minutes, stirring frequently. Stir the soy sauce mixture and shrimp into the asparagus mixture. Cook 1 minutes to heat through and removed the skillet from the heat and stir in the sesame oil.
To serve, spoon the rice onto 4 dinner plates, top with the shrimp mixture and sprinkle with toasted sesame seeds.
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