In this work we present UML for Hardware Design (UML-HD), a UML profile suitable for Asynchronous Hardware Design and an approach for automatically generating a Hardware Description Language (HDL) model from UML-HD models. A UML-HD model comprises solely class diagrams and an action language. We use stereotypes in two categories – structure and activity – to categorise classes. Structure type stereotypes signify state and activity type signify transitions. The approach is largely inspired by Petri nets. Several model transformations are suggested in this paper, but only code generation to Haste was implemented.