Preheat the grill to high heat. Place asparagus in a bowl and toss with 1 tablespoon olive oil and ½ teaspoon salt. Place asparagus cross-wise across grill grates (or place on a vegetable grilling tray) and grill over high heat for 3-5 minutes or to desired tenderness. Transfer to a cutting board and slice diagonally, into 2- to 3-inch long pieces. Place sliced asparagus into a serving bowl.

Heat remaining 1 tablespoon olive oil in a large skillet over medium-high heat. Add tomatoes and garlic and cook for 2-3 minutes. Add balsamic vinegar and cook for 2 minutes. Add remaining salt.

Add tomato mixture to the serving bowl. Top with goat cheese, if using. Serve warm, at room temperature, or cold.