Combine melted butter, brown sugar, Worcestershire sauce, pepper, dry mustard, and garlic in a large bowl.
Add asparagus and toss to coat.
Preheat oven to 400 degrees and grease a baking sheet.
Group asparagus spears in groups of 3 and wrap a piece of bacon around each one.
Place on baking sheet. Drizzle any extra butter mixture over them.
Bake for about 20 to 25 minutes. If bacon is not crispy turn broiler on for a few minutes.
Notes
To make spicy, add 1/4 teaspoon of cayenne pepper to the butter mixture.
Do NOT use thick-cut bacon. It will not get crispy. The thinner the bacon, the better.
If your bacon is on the thicker side, I recommend partially precooking it.
Medium or thick asparagus stalks work best. The bacon takes a while to get crispy in the oven and thin stalks will get overdone before the the bacon is fully cooked.