Bring 1 1/4 cups water to a boil. Reduce to low. Slowly whisk in 3/4 cup polenta. Keep stirring to break down clumps. Add milk (about 1/4-cup) to thin out. Add salt to taste.
Steam asparagus separately for about 5-8 minutes.
In a medium bowl, toss asparagus, white beans, and barbecue sauce until coated.
Serve over polenta.
Notes
Tip - For crispier asparagus, bake in the preheated 425 degree oven until just tender, 12 to 15 minutes depending on thickness.
Extra Calories - Add 1 cup of steamed veggies.