The Ghanaian was caught in possession by Steven Bergwijn who floated a cross to find Hirving Lozano to give the visitors the lead.
Asamoah struggled throughout the first half and almost conceded a second with an accidental assist for Luuk De Jong, but Samir Handanovic rushed off his line to parry.
Icardi blasted in the equaliser midway through the second half, picking up a perfect cross from Matteo Politano which left Zoet with no chance.
The draw meant that the Nerazurris are eliminated from the competition thanks to Group B rivals Tottenham Hotspur gaining a point against Barcelona.
The Serie A side needed to better Tottenham's result against Barcelona to progress to the last 16, however, Spalletti's men slipped into the Europe League following Spurs' late point at Camp Nou. Read Full Story
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