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Brush red and green peppers′ skins lightly with olive oil and place them, skin side up, on a baking sheet. Bake peppers in preheated oven to 400ºF (200ºC) for 15 minutes or until skin is blistered and has dark spots. Remove skin and seeds from peppers, cut them into thin strips and place them in a bowl. Add ¼ cup olive oil and combine. Season with salt and pepper and garlic.
Cook asparagus in boiling salted water until tender but firm. Drain and rinse them under cold water. Dry asparagus with paper towel.
Spread half of roasted peppers in a baking dish. Arrange the asparagus over roasted peppers and cover with remaining roasted pepper. Spoon the dressing on top. Bake in preheated oven to 450ºF (230ºC) for 15 minutes. Drizzle with balsamic vinegar and serve warm.
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