In a large skillet, bring 1/2 in. of water to a boil. Add asparagus and 1 teaspoon salt; boil, uncovered, for 4-5 minutes or until crisp-tender. Drain asparagus and pat dry. Transfer to a serving plate.
For dressing, in a jar with a tight-fitting lid, combine the orange juice, lemon juice, mustard, sugar, pepper, oil and remaining salt; shake well. Pour desired amount of dressing over asparagus. Sprinkle with egg yolks if desired. Serve at room temperature.