Cook the yakisoba noodles according to the package instructions. Once cooked, drain and set aside.
Heat a large skillet or wok over medium-high heat. Add a bit of oil and sauté the shrimp until they turn pink and opaque. Remove the shrimp from the skillet and set aside.
In the same skillet, add a bit more oil if needed, and sauté the mushrooms until they are golden brown and tender. Remove them from the skillet and set aside.
Now, add the asparagus to the skillet with a bit of oil, salt, and pepper. Sauté until they are tender-crisp. Remove and set aside.
Once all the main ingredients are cooked separately, return the skillet to medium-high heat. Saute garlic and ginger for 1-2 minutes.
Add the cooked noodles, followed by the cooked shrimp, mushrooms, and asparagus, and stir-fry for a couple of minutes.
Add light soy sauce, dark soy sauce, rice vinegar, sesame oil, cooking wine, sugar, and black pepper.
Continue stir-frying until everything is well coated with the sauce.
Transfer the shrimp yakisoba to serving plates. Garnish with sesame seeds and chopped green onions.