In a shallow glass baking dish, combine 1/4 cup broth, garlic, rosemary, oil, soy sauce, sugar and pepper. Add chicken; turn to coat. Cover and refrigerate at least 1 hour.
In saucepan, cook rice in water and remaining broth until soft and fluffy, about 20 minutes.
Meanwhile, in a skillet, cook chicken in marinade over medium-high heat for about 7 minutes on each side or until chicken is browned and juices run clear. Remove rice from the heat; add asparagus, lemon zest, lemon-pepper and salt, if desired.
Spoon onto individual plates. Cut chicken into strips; arrange in a fan shape over rice.