Steamed rice is good with this dish, if you don't mind adding calories.
Heat oven to 450 degrees. Combine hoisin sauce, orange juice, and garlic in a small bowl. Add salmon, turning to coat it with the marinade. Refrigerate and marinate for at least 15 minutes or up to 4 hours.
Slice tips off asparagus and set aside. Trim and discard the tough lower end of the asparagus and cut the spear in half crosswise. Slice each asparagus half into very thin matchsticks and transfer to a medium bowl. Add zucchini and yellow squash and toss to combine.
Fold each parchment piece in half, cut into a half-heart shape, and open. Arrange half the vegetable mixture on one piece of parchment, 2 to 3 inches from the center crease. Remove fish from the marinade, reserving marinade. Place 1 piece of salmon on top of the vegetables and cover with half the asparagus tips and half the orange zest. Drizzle half the marinade over the fillet and season to taste with salt and pepper.
Fold the other half of parchment over the ingredients. Make small overlapping folds to seal the edges, starting at the top of the heart.
Two inches from the end, twist the parchment twice, gently but firmly, to seal. Repeat with the other piece of parchment, making the second packet. Place packets on a large baking sheet and bake for 15 minutes. Remove from oven and open packets carefully. Transfer salmon and vegetables to plates and spoon some cooking liquid from the packet over them.