Preheat oven to 350 degrees. Heat oil in large skillet. Add asparagus, onion, garlic and sausage. Saute 3-4 minutes. Meanwhile, in a bowl, whisk together eggs, milk, cheese and pepper. Pour over vegetable sausage mixture in skillet. Add dollops of pesto on top and press into egg mixture gently. Cook a few minutes until edges are starting to set. Bake for 15-18 minutes until center is set. Remove from oven and let stand 15 minutes before serving.