Cook noodles according to package directions; drain. Heat oil in large nonstick skillet over medium heat until hot, or, if using a wok, heat oil over medium high heat for 2 minutes. Add asparagus and sesame seeds; stir fry until asparagus is tender (3 to 4 minutes). Add mushrooms; stir fry 1 minute. Add noodles; cook, stirring occasionally, until heated through (1 to 2 minutes). Beat eggs and milk in a 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.