Cook the orzo according to the package's direction. Drain and rinse the orzo and set aside until ready to use.
While the orzo is cooking, sauté the onion until translucent. Stir in the garlic and crushed red pepper flakes. Add the asparagus and sauté until tender. Transfer the sauteéd veggies to a plate.
Add the butter to the skillet and whisk in the flour to form a roux. Gradually whisk in the vermouth, followed by the milk.
Add the Dijon mustard and the goat cheese to the sauce and stir until the cheese melts. Taste and season with salt accordingly.
Return the veggies to the skillet followed by the orzo. Add the yogurt and stir until well integrated.