Preheat the oven to 400°
Wash and dry asparagus spears. Make a cut 1” from the bottom of the spear and discard. Add asparagus to a mixing bowl and toss with olive oil, peppercorn, and sea salt.
Cut bacon down the center. Take a strip of bacon, and starting at the top of the asparagus spears, wrap the bacon around the stalk. Tuck the end of the bacon in, or use a toothpick to secure it.
In a small mixing bowl, combine honey, dijon mustard, soy sauce, red pepper flakes, and minced garlic. Whisk well.
Lay asparagus onto a wire rack-lined baking sheet. Brush each with the glaze.
Place the baking sheet into the oven on the center rack. Bake for 7 minutes, then remove from the oven. Turn the asparagus over, and brush with the glaze. Place back into the oven for 7 more minutes. Turn off the oven.
Remove the baking sheet from the oven, and brush the asparagus with the glaze on both sides. Place under the broiler for 4 minutes, turning halfway through. This will crisp up the bacon.
Serve immediately and enjoy!