Pour about 1 inch of water into the large pan or pot, insert the steamer basket, and bring to a boil. Steam the asparagus until crisp-tender, about 2 minutes. Remove from heat and keep warm.

In the skillet, warm the olive oil over medium heat. Sauté the onion and almonds until warm and glistening, about 4 minutes. Add the orange juice, raisins, honey, salt, and pepper. Cook until the raisins plump and soften, about 2 minutes. Spoon over the asparagus and serve.