Gather the ingredients.

Fill a large pot with lightly salted water and bring to a rolling boil. Cook noodles in boiling water, stirring occasionally, until tender yet firm to the bite, 4 to 5 minutes. Drain, then rinse with cold water. Toss noodles with 1 teaspoon sesame oil; set aside.

Whisk together soy sauce and sugar in a small bowl; set aside.

Heat vegetable oil in a skillet over medium-high heat. Cook and stir carrots, asparagus, onions, and garlic in hot oil until softened, about 5 minutes.

Stir in green onions and mushrooms; continue cooking and stirring for 30 seconds.

Pour in soy sauce mixture, then add noodles. Cook and stir until noodles are warmed through, 2 to 3 minutes.

Remove from heat and toss with sesame seeds and remaining 1 1/2 teaspoons sesame oil.