Preheat oven to 400 degrees f.
Whisk 2 Tbsp. oil, minced garlic, paprika, cumin, 1/2 tsp sea salt and pepper in a large glass bowl.
Add the chicken and coat with mixture. (You can keep it in the fridge to marinate for up to 2 hours if time allows)
In another large bowl, whisk the mustard with honey, garlic, water and remaining oil.
Add tomatoes, chickpeas, whole garlic cloves and asparagus and season with sea salt and pepper to taste. Mix well to combine.
Place chicken, skin-side up, on a baking sheet.
Add the veggies bowl mixture, arranging everything in one even layer.
Roast in oven until the chicken is cooked through, 25 to 28 minutes.
Transfer chicken and veggies to serving plates or a platter and spoon the hot mustard sauce remaining in the bottom of the sheet pan, over your chicken.