Here is a great recipe I got off of a bottle of Lucini Gran Riserva Balsamico vinegar. It makes a wonderful side dish and is very easy to make.
Tuscan Grilled Asparagus
2 lbs. asparagus, tough ends cut off
3 Tbsp. fresh lemon juice
1/2 cup extra virgin olive oil
2 Tbsp balsamic vinegar
salt and freshly ground pepper to taste
Mix together lemon juice, olive oil, balsamic vinegar, salt and pepper. Add trimmed asparagus to marinade. Let set at room temperature for 1 or more hours. Heat grill to high. Put asparagus on grill, cooking until flexible and lightly blackened. Serve immediately.