Preheat oven to 400 F. Arrange asparagus spears in a 9x13-inch baking dish (or smaller). Coat the top of asparagus with cooking spray, then season with salt and pepper to taste.
Bake asparagus until tender (about 10 minutes, depending on thickness of spears).
Mix olive oil, soy sauce, and vinegar to make sauce. Pour the sauce over the baked asparagus spears and serve.
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