Heat 1 teaspoon oil in a large skillet over medium-high. Sprinkle steaks evenly with 1/2 teaspoon salt, 1/4 teaspoon pepper, paprika, cumin, and garlic powder. Add steaks to pan; cook 5 minutes on each side for medium-rare or until desired degree of doneness. Remove steaks from pan; let stand 5 minutes. Return pan to medium-high. Add remaining 1 tablespoon oil to pan. Add asparagus; cook 3 minutes. Add remaining 1/4 teaspoon salt, remaining 1/4 teaspoon pepper, thyme, and mustard to pan; toss to coat. Drizzle with balsamic glaze. Serve with steaks.