Prepare all the vegetables by washing and chopping them into uniform pieces.
Heat sesame oil in a large wok or frying pan over medium-high heat.
Add minced garlic and grated ginger to the pan and sauté briefly.
Introduce the snap peas and bell peppers to the pan, cooking for about 2-3 minutes.
Add the asparagus and cook for another 2 minutes.
Stir in the bok choy and cook until wilted, about 1-2 minutes.
Pour in the soy sauce and stir to coat the vegetables evenly.
Serve the stir-fry over cooked rice or quinoa, garnished with sesame seeds if desired.