Combine ground beef, salt and pepper in a bowl. Lay strips of bacon out side-by-side on parchment paper to roughly 12 inches wide. Pat down ground beef mixture over bacon strips so it covers ¼ of an inch thick and starts from the bottom of the strips to where ¼ of the strips are showing at the top. Lay the cheese sticks and asparagus down the middle horizontally. With the help of the parchment paper, roll into a log. Place on a baking sheet in a 375-degree oven until cooked; about 30 minutes.
Combine all sauce ingredients in a pot and heat for 5 minutes. When the bacon sushi is done, cut into 1 inch servings and pour sauce over portions.