Heat 2 tablespoons of vegetable oil in a large skillet or wok over medium-high heat. Add the shrimp and cook for about 2-3 minutes until they turn pink. Remove the shrimp from the skillet and set aside.
In the same skillet, add the remaining tablespoon of oil. Add the garlic and ginger, sautéing for about 30 seconds until fragrant.
Add the asparagus and mushrooms, cooking for 4-5 minutes until the vegetables are tender-crisp.
In a small bowl, mix the soy sauce, cornstarch, and water until smooth. Pour this mixture over the vegetables in the skillet, stirring to coat.
Return the shrimp to the skillet and cook for an additional 2-3 minutes until everything is heated through and the sauce has thickened.
Drizzle with sesame oil and season with salt and pepper to taste.
Serve the stir-fry over cooked rice or noodles.