Heat some oil in a large pan or wok on high until hot.
Add the garlic and onion. Cook until onion is translucent.
Add the asparagus cook for 30 seconds to 1 minute, or until bright green.
Add carrots and the shrimp to the pan and cook 2 to 3 minutes, stirring occasionally, just until the shrimp start to turn pink.
Add the cooked rice. Cook for an additional 1 to 2 minutes, stirring until any moisture evaporates. Add the soy sauce, hoisin sauce, and sesame oil. Cook 1 minute longer, stirring to coat everything in the sauce.