Stores sell special asparaus steamers that look kind of like special pasta pots: they contain an insert into which the asparagus its standing up. The insert is then lifted out to drain the asparagus. I don't have one. ;-)

So what I do (easy way) is, rinse the asparagus and break off the tough ends (where they naturally break is the "right" place). Place them in a single layer in a large skillet (should be large enough for them all to fit). Add water to cover or almost cover. Bring to a boil, cover the pan, and cook on medium heat until the asparagus is tender enough for your liking. I begin testing at 5 minutes (time depends on how thick the asparagus are). Drain and rinse under cold water immediately to stop the cooking process. That helps keep their bright green color.

Then you can serve the asparagus any way you like.... butter sauce, cream sauce, etc. Ours hardly ever make it into a sauce: we just pick them up with our fingers and eat them as-is!