Season shrimp with salt and pepper then sauté in 1 tbsp of vegetable oil over medium-high heat in a large wok for 3 to 5 minutes, or until no longer translucent. Remove to a plate and keep warm.
Snap off and discard woody bases from asparagus. If desired, scrape off scales. Cut asparagus diagonally into 2-inch pieces (you should have about 3 cups).
Pour remaining vegetable oil into the wok; heat wok over medium-high heat. Add ginger and garlic; cook and stir for 15 seconds. Add asparagus, sweet pepper, and red onion; cook and stir for 3 minutes. Add sugar snap peas and sesame seeds; cook and stir for 3 to 4 minutes more or until vegetables are crisp-tender.
Add soy sauce, vinegar, brown sugar, and sesame oil to vegetable mixture; return shrimp to wok and toss gently to coat. Stir in cilantro. Use a slotted spoon for serving.