Quickly steamed asparagus keeps its bright green color and crisp-tender texture, making it a good match for cucumber.
Place a steamer basket in a saucepan filled with 1 inch water. Bring to a boil. Add asparagus, cover, and cook until crisp-tender, 3 to 5 minutes. Rinse with cold water to stop the cooking. In a bowl, combine asparagus, cucumber, vinegar, and oil. Season with salt and pepper.