Preheat the oven to 425 degrees F.
Toss the bread with 2 tablespoons olive oil, 1/2 teaspoon kosher salt and 1/4 teaspoon black pepper on a sheet pan. Spread into a single layer. Toast the bread for 12-14 minutes until golden brown, flipping over halfway through toasting.
Toss the asparagus with 1 tablespoon olive oil, 1/4 teaspoon kosher salt and 1/4 teaspoon black pepper on another sheet pan. Spread into a single layer. Roast the asparagus until it is bright green and some pieces are lightly browned at the edges, about 7 minutes. (Note: About halfway through toasting the bread, you can roast the asparagus, so they cook in the oven at the same time.)
Combine the toasted bread, asparagus, cannellini beans, Parmesan, scallions and parsley in a bowl.
To make the vinaigrette, whisk together the garlic, mustard, lemon juice and zest, 1/4 cup olive oil, 1/4 teaspoon kosher salt and 1/4 teaspoon black pepper in a small bowl.
Drizzle the dressing into the salad, tossing to combine.