Combine sesame seeds and ¼tsp of salt in a large bowl. Add the tofu pieces and toss gently to coat.
Combine 2tsp peanut and sesame oil in a large wok or nonstick skillet over medium-high heat. Add the tofu and stir-fry till golden, about 5~6 minutes. Remove tofu from the pan; keep warm.
In the same pan, heat the remaining 2tsp peanut oil, add mushrooms and cook for 3~4 minutes or until the mushrooms start to brown. Add asparagus and coo for 4~5 minutes or until asparagus is crisp-tender.
Reduce heat to medium and add the sliced green onions.
In a small bowl, combine broth, hoisin sauce, soy sauce, cornstarch and chili garlic sauce.
Add this sauce to the veggies in the pan and cook for 1~2 minutes or until the sauce is thickened. Stir in the tofu and season with salt. Toss gently to combine. Serve hot over brown rice.