As far as I understand, in a CQRS-oriented API exposed through a RESTful HTTP API the commands and queries are expressed through the HTTP verbs, the commands being asynchronous
My team also recently had a very heated discussion about this very thing. Thanks for posting the question. I have usually been the defender of the "fire and forget" style commands. My position has always been that, if you want to be able to move to an async command dispatcher some day, then you cannot allow commands to return anything. Doing so would kill your chances since an async command doesn't have much of a way to return a value to the original http call. Some of my team mates really challenged this thinking so I had to start thinking if my position was really worth defending.
Then I realized that async or not async is JUST an implementation detail. This led me to realize that, using our frameworks, we can build in middleware to accomplish the same thing our async dispatchers are doing. So, we can build our command handlers the way we want to, returning what ever makes sense, and then let the framework around the handlers deal with the "when".
Example: My team is building an http API in node.js currently. Instead of requiring a POST command to only return a blank 202, we are returning details of the newly created resource. This helps the front-end move on. The front-end POSTS a widget and opens a channel to the server's web socket using the same command as the channel name. the request comes to the server and is intercepted by middleware which passes it to the service bus. When the command is eventually processed synchronously by the handler, it "returns" via the web socket and the front-end is happy. The middleware can be disabled easily, making the API synchronous again.