Heat approximately 3-4 inches of oil in a large saucepan over moderate heat, or heat in deep fryer until temperature is 350°F.
While oil is heating combine ingredients for dip and set aside.
Back on the asparagus tempura - in a mixing bowl add flour and salt, whisking in the milk. Trim woody ends of asparagus. Dip the asparagus in batter and then drop into the oil. Cook for roughly 2 minutes or until the batter is just golden. Remove onto a plate lined with paper towel to drain oil.
Serve with dip and lemon wedge, if desired.
Recipe by Go Dairy Free at https://www.godairyfree.org/recipes/asparagus-tempura-garlic-cilantro-dip