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Heat 1 tablespoon sesame oil in a large skillet over medium heat. Sauté 4 ounces chicken, sliced into 1/2-inch strips; 1 minced garlic clove; and 1/4 teaspoon red pepper flakes 7 minutes. Add 2 cups chopped asparagus and cook 3 minutes more. In a small bowl, whisk together 1 teaspoon reduced-sodium soy sauce, 1 teaspoon honey, 1 teaspoon sesame seeds, and juice and zest of 1 orange. Add to skillet and cook 1 minute. Serve over 1/2 cup cooked brown rice.