Asparagus Bundt Cake

In a large bowl, combine the first five ingredients. Add oil, eggs, asparagus, pineapple, orange peel and vanilla; mix well. Fold in pecans. Pour into a greased and floured 10-in. fluted tube pan. Bake at 350 degrees F for 1 hour or until a toothpick inserted near the center comes out clean. Cool for 10 minutes; remove from pan to a wire rack to cool completely. For icing, beat cream cheese and sugar in a small mixing bowl until smooth. Add orange peel, vanilla and enough milk until icing reaches desired consistency. Spoon over cake, allowing icing to drip down sides. ');