Meanwhile, in a small bowl, stir together the soy sauce, rice vinegar and ginger. Set aside. In a 12-inch skillet over medium-high heat, toast the sesame seeds until golden, about 4 minutes. Transfer to a small bowl. In the same skillet, heat the vegetable oil over medium-high heat until hot. Add the asparagus and cook until tender-crisp, stirring frequently, about 5 minutes. Add the tomatoes and cook 2 minutes, stirring frequently. Stir the soy sauce mixture and shrimp into the asparagus mixture. Cook 1 minute to heat through. Remove the skillet from the heat, and stir in the sesame oil. To serve, spoon the rice onto 4 dinner plates, top with the shrimp mixture and sprinkle with toasted sesame seeds.