Preheat oven to 400°F. Line a large, rimmed baking sheet with a piece of parchment paper or a Silpat type silicone baking mat. Place the salmon fillets skin side down in the center of the baking sheet and set aside.
In a medium bowl, whisk together the orange juice, honey, olive oil, balsamic vinegar, and garlic. Generously season with salt and black pepper, to taste, and brush over the salmon.
Add the asparagus to the bowl with the orange juice mixture and gently toss to combine. Season with additional salt and black pepper, to taste.
Arrange asparagus around the salmon fillets in a single layer and place sheet pan in preheated oven. Bake for 15-18 minutes, or just until the salmon is flaky and the asparagus develops a bit of color, being careful to not overcook the salmon.
Remove from oven and serve immediately. Enjoy!