You’re trying to install a Python 2 module, and those aren’t supported any more in current versions of Kali or Debian. The
python2.7 package is still available, but to ensure that obsolete modules aren’t left lying around, it prevents their installation.
If you’re writing new code, you should use Python 3 and the
python3-pyasn1 package instead; the latter is available in the Kali repositories:
sudo apt install python3-pyasn1
If you’re trying to get older software to work, you’d be better off using a Python 2 virtual environment and installing the module using