Preheat oven to 400° F. Arrange asparagus and grape tomatoes on a large non-stick baking sheet.  Drizzle with olive oil, season with salt and pepper  and toss using tongs.  Roast in oven for 7 minutes, remove from oven and top asparagus with mozzarella.  Return to oven and continue roasting for 5 minutes more or until cheese melts. Transfer asparagus with cheese to a serving platter.  Top with roasted grape tomatoes and fresh basil. Drizzle with balsamic vinegar.  Serve immediately.