Preheat oven to 425°F (220°C). Toss asparagus with olive oil, salt and pepper on foil-lined baking sheet. Roast for 10 to 12 minutes or until lightly browned and tender-crisp.
Meanwhile, fill saucepan with about 3-inches (8 cm) of water. Heat until water simmers gently. Stir in vinegar. Break cold egg into small dish or saucer. Holding dish just above simmering water, gently slip egg into water. Repeat for remaining eggs. Cook in barely simmering water for 3 to 5 minutes or until white is set and yolk is cooked to desired level of doneness. Remove eggs with slotted spoon. Drain well on paper towel.
Melt butter in small non-stick skillet set over medium-high heat. Add garlic and cook for 1 minute or until fragrant. Add bread crumbs. Cook, stirring, for 3 minutes or until lightly toasted.
Divide asparagus evenly between 4 dinner plates and top with a poached egg. Sprinkle with toasted bread crumbs and Parmesan. Serve with fresh bread (if using).