The 28-year-old Qatari leapt 2.27m while Bulgaria’s Tihomir Ivanov came third (2.24m).
Ingebrigtsen, 26, finished second behind Ethiopia's Samuel Tefera in the race, which is not an Olympic or world championship event, in a time of three minutes 49.60 seconds.
The 32-year-old Jamaican, twice Olympic champion over the distance, got away quickly and never looked like being caught by Britain's Asher-Smith (10.92sec).
The Qatari injured his ankle last July, going for Javier Sotomayor's world record at Gyulai Memorial in Szekesfehervar, Hungary.
World high jump champion Barshim returned to action only last month and won gold in his comeback in Sopot.
The Polish Olympic champion underwent knee surgery and will target the 2020 Tokyo Games.
Kipyegon made a long-awaited return with a stunning 1500m victory in 3:59.04 at the IAAF Diamond League meeting in Stanford last month.
Two-time Olympic 800m gold medallist Semenya is awaiting a ruling from Switzerland's supreme court on her appeal against the regulations.
Sama finishes second in 400m at Monaco, Gatlin upstages Lyles in 100m
The IAAF World Athletics Championships will be held at the Khalifa International Stadium from September 27 to October 6.
Falah, the official mascot of Doha IAAF World Athletics Championships, met with children at Aspire Zone's Summer Camp.
Two-time Olympic champion Shelly-Ann Fraser-Pryce powered to a dominant victory in the 100 metres.
The 28-year-old South African star swept to victory in the 800m at the Prefontaine Classic on Sunday.