In this paper, we propose a synthesis method for asynchronous circuits with bundled-data implementation. The proposed method iteratively applies behavioral synthesis and floorplanning to obtain a near optimum circuit in the term of latency under given design constraints. To improve latency, behavioral synthesis and floorplanning are carried out so that the delay of the control circuit is minimized and the addition of delay elements to satisfy timing constraints is minimized. We evaluate the effectiveness of the proposed method in terms of latency, area, and the number of timing violations while synthesizing several benchmarks. Experimental results show that the proposed method synthesizes faster circuits compared to the circuit synthesized without the proposed method. Also, the proposed method is effective to reduce the number of timing violations.