1. Oil and heat grill.
2. For the teriyaki dressing, combine teriyaki, orange juice, garlic, brown sugar, and 1/4 teaspoon salt in a small bowl, stirring until sugar is dissolved. Transfer 2 tablespoons to another cup.
3. Toss asparagus with 1 tablespoon oil, 1/4 teaspoon salt, and 1/8 teaspoon pepper in shallow dish. Grill 10 to 12 minutes, turning as spears brown, until tender; set aside.
4. Meanwhile, sprinkle salmon with remaining 1/2 teaspoon salt and 1/8 teaspoon pepper. Grill 4 to 5 minutes per side, brushing with reserved 2 tablespoons teriyaki dressing, until cooked through. Drizzle salmon with remaining dressing. Serve with asparagus and rice. Makes 4 servings.