Leave them alone and do not cut them back. They are developing a strong root system now that will be needed for better production in the coming years.
If you want a taste, you could cut a few small spears, but be very judicious.

I agree with Cindy. If you need to, stake them, and it sounds as if you'll be able to eat the next new shoots :).

Yes, it takes a couple of years for the stalks to start getting thicker. Are you fertilizing in the Fall ? It helps to top-dress with cow/horse manure after cutting-back in the Fall.

I wasn't able to fertilize in the fall, but I'll do that this fall. In my zone, they stayed green almost all year long, only dying back when we finally had some freezing weather in the winter. I just wanted to make sure that with them getting almost 6 feet tall, I wasn't doing something wrong. I am grateful for everyone's help. I'll let them be and maybe start harvesting next year. Some didn't come back at all, but the ones that did are gigantic.