Bring a large pot of water to a boil. Add pasta and cook, stirring occasionally, for 8 minutes. Add cooked shrimp. Cook until shrimp is heated through and pasta is tender yet firm to the bite, 2 to 3 minutes.
Meanwhile, heat olive oil in a large skillet over medium heat. Add asparagus and red pepper flakes; cook for 3 minutes, stirring frequently. Add garlic and continue to cook until asparagus is tender yet firm to the bite, another 4 to 5 minutes.
Drain pasta and shrimp; transfer to a large serving bowl. Add cooked asparagus and Parmesan cheese; stir well to combine. Season with salt and pepper and serve immediately.
