Wash asparagus under cold water to remove any dirt. Snap off woody ends by bending stalks; they will naturally break at the right spot. Pat dry with clean towel.
Heat large skillet or grill pan over medium-high heat. Add olive oil and swirl to coat pan. Place asparagus in single layer and sprinkle with sea salt and black pepper. Cook for 5 to 7 minutes, turning occasionally, until asparagus is lightly charred and tender. Remove from heat and set aside to cool slightly.
In small bowl, whisk together tahini, lemon juice, water, garlic, cumin, honey, and pinch of salt. Adjust water for your desired consistency; it should be pourable but not too thin. Taste and adjust seasoning, if needed.
Arrange charred asparagus on serving plate. Drizzle garlic tahini dressing generously overtop. Sprinkle with toasted sesame seeds and chopped herbs. Serve immediately as a side dish or light main course.