Pre-heat oven to 350° F. Place baby asparagus on small baking sheet, pour a little olive oil over it and shake and roll a bit, to help coat the stalks. Pour a tablespoon of balsamic vinegar over the stalks and roll them in it.
Bring a small pot of water to a boil. Next place the asparagus in the oven, for 5 to 7 minutes, taking care to not leave it in too long! Poach the egg for about 3 minutes.
While the egg is poaching and asparagus is in the oven, peel and wedge the avocado and place on a plate in spiral form.
Place asparagus between wedges of avocado, and plate the poached egg in the center. Garnish with fresh ground black pepper and additional balsamic vinegar if desired.
If you are wondering how to poach an egg, take a look at this video and post from The Kitchn.