Preheat oven to 400°F. Coat baking sheet with cooking spray. Arrange asparagus on bak-ing sheet with salt and pepper. Wrap garlic cloves in foil and place on sheet next to as-paragus. Roast for 15 minutes or until garlic is golden brown.
For garlic avocado cream, combine garlic with sour cream, and avocado. Mash with a fork until blended. Season with salt and pepper.
For salsa, chop asparagus into small pieces. Combine with tomato, cilantro, lime juice and cumin. Season with salt and pepper.
For tacos, combine beef, chili sauce, green chilies, and chili powder in a skillet. Simmer 5 minutes until liquid is absorbed. Place tortillas on microwave safe plate and cover with damp paper towel. Microwave for 15 seconds to warm. To serve, spoon beef into tortillas and top with shredded lettuce and cheese. Serve with garlic avocado cream and asparagus salsa on the side.