For the mousse
Cut the bottom part of the asparagus (only 1 cm) and boil until tender in a lot of salty water then drain in icy water (this process will keep your asparagus green). Cut again the asparagus but this time; keep the tips (2 cm) on a plate for use later.

Soak the breadcrumb with the milk, add the garlic, the cooked shallots, the asparagus (pat dried) and blend in a liquidizer until smooth, then add the eggs and cream and beat gently. Add salt and pepper to taste.

This mixture should be more than you require to fill 4 large ramekins, but you need the 24 tips to finish the dish, so why not using all the rest of the asparagus and cook as many portions as you can with the recipe I'm giving!
So fill as many ramekins (buttered) as possible and cook au Bain Marie in a warm oven (160c).

The mousse should be cooked when the blade of a knife is inserted and come out clean! (About 45min)

For the dressing
Peel the orange and the grapefruit and carefully remove the segments, squeeze the rest of the fruit in a bowl plus the juice of the lemon. Add the balsamic vinegar, salt and pepper, whisk for 30 seconds and add the olive oil.

To present
Reverse pot to release the mousse (warm) in each plate, surround with the tips and alternate with the fruit segments. Pour the dressing (only on top of the fruits and tips). Add a bit of parsley or basil on top of each mousse.