Cut asparagus into 1 1/2 inch pieces, saute in olive oil and garlic til tender, season with salt, pepper and 1 1/2 tsp cilantro. Aprox. 5 - 8 minutes over med heat. Add in shrimp season lightly and cook covered for another 3 - 5 minutes. In the meantime, mix together yogurt, 1/2 tsp cilantro, lime, salt and pepper and taco seasoning.
Warm tortillas on a warm grill pan (no oil) over med. heat til lightly toasted on one side, turn over. Sprinkle cheese on tortilla, top with 4 or so shrimp asparagus and yogurt sauce. Eat warm.