Boil 2 cups of water in a large pot. Place a steamer basket or small colander into the bottom of the pot and place the asparagus inside. Cover pot and steam for 6 - 8 minutes or until tender crisp.
Remove asparagus from pot into a bowl. Refrigerate to allow asparagus to chill completely.
Meanwhile, in a small bowl whisk together olive oil and apple cider vinegar. Add salt and pepper to taste. Refrigerate until ready to serve.
Drizzle vinaigrette over chilled asparagus and serve immediately.