Heat jars in a 250 degree oven to sterilize. Place vinegar, 2 cups of water and sugar in a medium pot. Tie allspice, cloves and cinnamon in a cheesecloth bag and add to picking liquid; simmer 15 minutes.

Meanwhile, boil 4 cups of water in a medium pot. Add asparagus, cook 3 minutes and drain, reserving boiling water. Return water to the pot and return to a boil.

When cooled enough to handle, pack asparagus in hot jars and cover with hot pickling liquid, leaving 1/2-inch headspace; seal. Place jars in boiling water for 10 minutes.