Boil a large pot of water. Once boiling, blanch the asparagus for about 5 minutes.

In a small saucepan, combine balsamic vinegar and bring to gentle boil. Reduce by half, then whisk in olive oil, Dijon mustard, honey, minced garlic, salt, and pepper.

Add trimmed asparagus to boiling water and cook for 4-5 minutes until tender-crisp. Transfer to ice water.

Drain cooled asparagus, chop into bite-sized pieces. In a mixing bowl, combine asparagus, halved grape tomatoes, and toasted walnuts.

Drizzle balsamic vinaigrette over salad ingredients and gently toss with tongs.

Crumble feta cheese over the top of the salad before serving.