Step 1

Arrange oven rack in top third of oven. Preheat oven to 450 degrees F. Line 18-inch by 12-inch jelly-roll pan with foil.

Step 2

From lemon, grate 1 teaspoon peel into 9-inch pie plate and squeeze 1 tablespoon juice into small bowl. In large bowl, stir mustard and mayonnaise until well combined; add chicken pieces and toss until evenly coated. In pie plate with lemon peel, combine panko, grated Parmesan, oil, ground red pepper, 1/8 teaspoon salt, and 1/8 teaspoon freshly ground black pepper. Dredge 1 drumstick in crumb mixture until well coated, shake off excess, and place on prepared pan. Repeat with remaining chicken and crumb mixture. Bake 30 minutes or until crust is golden brown and juices run clear when chicken is pierced with tip of knife.

Step 3

Meanwhile, in small bowl with lemon juice, stir yogurt, 1/4 teaspoon salt, and 1/4 teaspoon freshly ground black pepper until smooth. Stir in basil. Fill 12-inch skillet with 1 inch water. Cover and heat to boiling on high. Add asparagus and 1/2 teaspoon salt. Cook, uncovered, 4 to 5 minutes or until bright green and crisp-tender, turning occasionally for even cooking. Rinse under cold running water; drain.

Step 4

Serve chicken with vegetables and dipping sauce on the side.