Preheat oven to 425 degrees. Line a large rimmed baking tray with parchment.
In a small saucepan, whisk together the balsamic vinegar, coffee, orange juice, and maple syrup. Place the rosemary sprigs in the liquid and bring to a boil. Cook until reduced by about half and the sauce coats the back of a spoon, about 10-15 minutes. Remove from heat. Discard the rosemary sprigs.
Toss the brussels sprouts and asparagus (if using) with 1 tablespoon of olive oil, garlic cloves, salt and pepper. Roast for 10 minutes.
Pat salmon dry and rub with the remaining tablespoon of olive oil, oregano, paprika, rosemary, red pepper flakes, and a pinch of salt and pepper. Slide the veggies to one side of the tray and place the salmon filet atop. Roast for 10 minutes, then drizzle about 1/2 of the balsamic reduction over the fish and veggies. Cook an additional 5 minutes or until salmon reaches desired level of doneness.
Serve with remaining balsamic reduction, crusty bread, and/or rice.