Place a pot of water on the stove over high heat. Blanch asparagus in boiling water for about 1 minute until bright green. Transfer to an ice bath to quickly stop cooking and drain.
Heat olive oil in a large sauté pan over medium-high heat. Add tomatoes and garlic. Cook about 5 minutes or until tomatoes are slightly caramelized and ready to burst. Stir in vinegar and simmer until mixture has reduced and slightly thickened. Stir in salt.
Arrange asparagus on a platter. Top asparagus with tomato balsamic mixture. Crumble goat cheese over asparagus and sprinkle with pepper.