Preheat oven to 400 degrees F and line a rimmed baking sheet with foil.
Combine the raw honey, soy sauce, rice wine vinegar, olive oil, and pepper in a small bowl and whisk to combine.
Arrange the asparagus, orange slices, and salmon on the baking sheet, leaving space in between the salmon.
Drizzle the soy-honey sauce over the salmon and vegetables.
Place in the oven and bake for 10-12 minutes or until salmon is cooked through.