Cook noodles according to package directions; drain. Heat oil in large nonstick skillet over medium heat until hot. Add asparagus and sesame seeds; stir-fry until asparagus is tender, 3–4 minutes. Add mushrooms; stir-fry 1 minute. Add noodles; cook, stirring occasionally, until heated through, 1–2 minutes. Beat eggs and milk in small bowl until blended; pour over noodle mixture. As egg mixture begins to set, stir gently. Cook until eggs are thickened and no visible liquid egg remains. Do not stir constantly.