Combine 2 teaspoons of sesame oil and next 6 ingredients (through salt) in a small bowl.
Heat a wok or large skillet over medium-high heat. Add remaining 1 teaspoon of sesame oil and 1 tablespoon canola oil.
Add beef and stir-fry 2 minutes. Remove beef from the pan.
Add remaining 1 tablespoon oil, onions, asparagus, bell pepper, ginger and garlic, and stir-fry for 2 minutes.
Add broth mixture and cook another minute or until thick. Return beef to the pan, cooking until beef is done and veggies are crisp-tender.
Toss in sliced green onions and peanuts.
Serve over rice.