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 vegetable oil. Add the garlic and ginger, sautéing for about 30 seconds until fragrant.
Add the asparagus and mushrooms to the skillet. Stir-fry for about 4-5 minutes until the vegetables are tender-crisp.
In a small bowl, mix the soy sauce, cornstarch, water, and sesame oil. Pour this mixture over the vegetables in the skillet. Stir well to combine and cook for an additional 2 minutes until the sauce thickens.
Return the cooked shrimp to the skillet and toss everything together. Season with salt and pepper to taste. Cook for another minute to heat through.
Serve the stir-fry over cooked rice or noodles.