Asparagus is a tricky vegetable to cook properly, because you can undercook or overcook them. Getting them just right takes precision and experience. And one of the best ways to prepare asparagus is steaming. You can steam both white and green asparagus. This video shows you how it's done, plus you'll learn a great sauce that consists of juice from one lemon, some fresh garlic (one clove grated) and butter.