Preheat the oven to 400 degrees. Add parchment paper to a rimmed baking sheet. Put the salmon filets' skin down in the middle of the baking sheet. Set aside.
Whisk the orange juice, honey, olive oil, balsamic vinegar, and garlic in a bowl. Add salt and pepper to taste, and then brush over the top of the salmon.
Add the trimmed asparagus to the bowl and toss to cover. Season with more salt and pepper.
Add the asparagus around the fillets in a single layer. Put the pan in the oven and bake for 15-18 minutes. The salmon should be flaky and the asparagus developing a bit of color.