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Step 1
Snap off and discard bottoms of asparagus, then cut into 2-inch pieces. (Halve thicker pieces lengthwise first.)
Step 2
Set a wok over high heat and add vegetable oil. When oil is hot, add asparagus and season lightly with salt. Stir-fry for a minute or so, then add Sichuan pepper, five-spice powder, garlic, ginger, sugar, chiles, soy sauce and walnuts. Continue cooking over high heat for 1 to 2 minutes, tossing to coat well, until asparagus is cooked but still firm and bright green. (It will continue to cook a bit off the heat.)
Step 3
Transfer asparagus to a serving platter and drizzle with sesame oil. Sprinkle green onions over the top and garnish with cilantro sprigs.