In a small bowl, whisk together honey, orange juice, lemon juice, orange zest, lemon zest, olive oil, minced garlic, salt, and pepper until well combined.
Cut out four large pieces of aluminum foil (about 12x12 inches each) and lay them flat on a clean surface.
Place a salmon fillet in the center of each foil piece. Drizzle each fillet with the citrus honey sauce.
Surround the salmon with cherry tomatoes and asparagus, arranging them evenly on the foil.
Fold the edges of the foil over the salmon and vegetables, creating a tight seal so the steam can circulate while cooking.
Place the foil packs on the grill or in the oven, cooking for 15-20 minutes, or until the salmon flakes easily with a fork and the vegetables are tender.
Carefully open the foil packs, as steam will escape, and garnish with fresh parsley and lemon slices before serving.
Notes
Make sure to seal the foil packs tightly to keep the steam in.