Trim the pork tenderloins by removing the silverskin with a sharp knife.

In a medium bowl, whisk both mustards, honey, rosemary, garlic, orange zest, salt, and pepper.

Place the pork tenderloins in a 1-gallon resealable bag and pour in half of the marinade.

Marinate pork in the refrigerator for at least 1 hour and up to 8 hours. Store the remaining marinade in the refrigerator.

Preheat the grill to 450°F or high heat. Clean and oil the cooking grate, then close the lid.

Remove pork from the marinade. Discard the used marinade.

Grill the tenderloins for 15–20 minutes, turning and rotating every 5 minutes to allow each side to brown. Pork tenderloins are cooked when golden and crispy on the outside and the internal temperature reaches 145°F.

Remove the tenderloins from the grill and place on a carving board. Brush the reserved (unused!) marinade on the pork, then allow it to rest for 10 minutes before slicing.

In a large bowl, toss the trimmed asparagus in olive oil and season with salt and pepper.

While the pork is resting, grill the asparagus for 3–5 minutes, turning often.

Slice the pork tenderloins into strips, then serve with grilled asparagus. Enjoy!