In a large non-stick skillet heat the oil over medium high heat. Season the chicken pieces with the salt and pepper and add to the skillet. Cook the chicken until golden brown, about 5 minutes. Stir in the garlic and red pepper. Add the asparagus and cook for 1 minute. Stir in the zest and 1/2 cup liquid and bring to a simmer. Cover and cook for 3 minutes. Serve immediately over hot rice.