To make the caramel, boil the sugar and water in a pan without stirring. Reduce the heat and simmer, shaking the pan occasionally, until a pale brown caramel has formed. Remove the pan from the hob, add the orange zest, juice and water, dissolve the caramel over a medium heat. Add the asparagus, season, cover and simmer over a medium heat for approx. 5 mins., remove the lid and simmer for a further 10 mins.
Combine the vinegar and oil, season.
Stir in the rocket, plate up. Top with the cheese and sprinkle with pine nuts. Serve the asparagus alongside.