Rinse asparagus stalks, shake dry, leaving them damp. Heat the oil in a sauté pan over medium heat. Add the minced garlic and red pepper flakes (if using) and stir until the garlic turns golden brown, about 1-2 minutes. Add the asparagus and cook for two minutes, stirring regularly. In a bowl, mix together the soy sauce and lemon juice. Carefully pour over the asparagus, and stir once to disperse the sauce. Cover with a lid and let steam for 2 minutes. Mix BeeMaid honey and mustard in a small bowl. Uncover the asparagus and stir. Spoon the honey mustard mixture over the asparagus and cook until a glaze starts to form (it will thicken as it cools), about two more minutes, stirring frequently. Transfer to a platter and serve.