Preheat 8” saute pan on the stovetop over medium heat.
Crack eggs in a deep bowl. Add milk and whisk with a fork until well blended.
Coat pan with cooking spray and pour eggs carefully into the pan, covering the bottom of the pan evenly. Allow to cook undisturbed until eggs are set. If a “harder” cooked omelette is desired, gently flip it when it’s cooked enough to be manageable.
Heat asparagus in the microwave just until warm, 20-30 seconds. Place in a single layer on half of the omelette, sprinkle with Gouda and fold the omelet in half to cover.
Sprinkle with salt and pepper to taste and serve immediately.