Step 1) Combine chicken thighs, lemon juice, orange juice, oil and 1/4 cup seasoning in a resealable plastic bag. Marinate in the refrigerator a minimum 30 minutes, or up to 24 hours.
Step 2) Trim asparagus. Rinse and pat dry with a paper towel. Place on a baking sheet; drizzle with 1 tablespoon oil and sprinkle with 1 tablespoon seasoning. Toss lightly; set aside.
Step 3) Coat grill surface with grill spray to prevent sticking.
Step 4) Preheat grill to medium-high heat.
Step 5) Remove chicken from marinade; discard any remaining marinade. Grill chicken over Direct High heat (450� to 550℉) for 5 to 7 minutes; turn chicken and continue to cook for 3 to 5 minutes until cooked through. While chicken grills, place asparagus on grill and grill until crisp tender, about 4 to 6 minutes. Turn occasionally.
Step 6) Transfer chicken and asparagus to serving platter; tent with foil 3 to 5 minutes before serving.