Bring balsamic vinegar to a boil in a small saucepan over medium-high heat. Boil for 3 minutes. Remove from heat and whisk in olive oil, Dijon mustard, honey, garlic, salt, and pepper. Set aside.
Bring a separate pot of water to a boil and cook asparagus for 3 minutes. Drain in a colander and run under cold water to stop the cooking process. Shake off excess moisture.
Combine asparagus and grape tomatoes in a large bowl. Drizzle dressing over the top and toss until evenly coated. Add goat cheese and toss again. Serve immediately.