Asparagus Beef Teriyaki

"This simple, savory dish is made in the time it takes to steam a pot of rice. About 20 minutes and—boom!—your easy stir-fry is done. —Kari Shifflett, Lake Mills, Iowa..."

INGREDIENTS
1/2 cup teriyaki marinade
2 tablespoons water
1 tablespoon cornstarch
1/4 teaspoon pepper
2 tablespoons sesame oil, divided
1 beef sirloin tip steak (1 pound), thinly sliced
1 large sweet onion, chopped
1 medium green pepper, thinly sliced
1 medium sweet red pepper, thinly sliced
1/2 pound fresh asparagus, trimmed and cut into 1-inch pieces
1 garlic clove, minced
3 cups hot cooked rice
Soy sauce, optional
Sesame seeds, optional
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