Preheat oven to 400 degrees F. Lightly oil a 9×13 baking dish or coat with nonstick spray.
In a small bowl, combine butter, brown sugar, garlic, soy sauce and Sriracha, if using; set aside.
Lightly coat asparagus with olive oil; season with pepper, to taste.
Divide asparagus into 6 bundles, wrapping each bundle with a slice of bacon to secure the spears together.
Place asparagus bundles in a single layer into the prepared baking dish. Top with butter mixture.
Place into oven and bake until bacon is crisp and asparagus are tender, about 15-20 minutes.
Serve immediately, garnished with sesame seeds, if desired.
Notes
To grill, place asparagus bundles on a hot grill over medium high heat. Cover and cook until bacon is crisp and asparagus are tender, about 10-12 minutes.