How LONG do you boil asparagus on top of the stove?

To boil asparagus on the stovetop, bring a pot of salted water to a boil and add the asparagus. Cook for 3 to 5 minutes, depending on the thickness of the stalks; thinner asparagus will need closer to 3 minutes, while thicker stalks may require up to 5 minutes. The asparagus should be tender but still vibrant green. Once cooked, drain and immediately plunge them into ice water to stop the cooking process.