Trim and peel the root end of the asparagus to remove the tough outer skin. Slice asparagus in half keeping the tips and bases separate. Lay half bacon strips out on your cutting board. Lay a base piece and a tip piece on each slice of bacon, then roll it up and secure with a bamboo toothpick through the middle at a 90 degree angle.
Preheat grill to medium heat.
In a small mixing bowl combine miso, mirin, lemon juice, lemon zest and sugar. Stir with a whisk and use a pastry brush to baste the skewers as they cook on the grill - about 2 to 3 minutes per side on high.