Chop the asparagus into about ¼-inch pieces, discarding the tough ends of the spears. Transfer the asparagus, almonds, white beans, scallions, cilantro, and sesame seeds to a large bowl.
Make the dressing: Mix the miso, rice vinegar, soy sauce, orange zest, orange juice, ginger, maple syrup, and sesame oil in a medium bowl.
Toss the salad with the desired amount of dressing.
Refrigerate any remaining Asparagus Salad for up to 4 days. Store leftover miso orange dressing is a separate container for up to 5 days.