Bring a large pot of salted water to a boil. Add the asparagus and boil for two minutes. Remove from pan and immediately put into a bowl of ice water. Drain and allow to dry on papaer towels.
Place the asparagus, lemon zest, rosemary, and peppercorns into a zip top bag.
Mix the remaining ingredients together and pour over the ingredients in the bag. Seal tightly and turn several times to distribute the dressing.
Refrigerate at least overnight and up to two days. Serve as part of a relish tray, in a salad or as a side dish.