Mix the mirin, soy sauce and sugar until sugar dissolves. Mince the garlic and grate the ginger.
Boil the udon noodles until tender, per package instructions. Drain into colander and toss with 1 tsp sesame oil.
While the noodles are boiling, heat a large skillet with the canola oil. Add the mushrooms and brown, add the asparagus and salt lightly, cook until vibrant green and slightly softened, about 5 minutes.
Add the shrimp and cook until no longer translucent. All of this is done on high heat, do not overcook the food. Add the noodles and pour in the mirin mix. Cook until the sauce is absorbed. Serve with hot sauce.