Steam asparagus spears for 2-3 minutes, then plunge in cold water to prevent further cooking and drain. Cut into pieces and set aside.
Combine egg beaters or egg whites with skim milk or fat-free half and half in a bowl.
Preheat broiler.
Spray a fine mist of Pam Olive Oil Cooking Spray into a medium nonstick skillet that has an oven-proof handle. Heat pan over medium heat. Add asparagus and egg mixture. Cook frittata for 5 minutes until edges begin to set. Do not move the frittata in any way. Sprinkle cheese on top.
Carefully transfer skillet. Broil frittata for 2-3 minutes or until eggs are set. Remove from oven.