To trim the asparagus, grab one stalk of asparagus with both hands. Bend until it snaps. It will naturally snap where it starts to get tough. Use that as a guide to trim the remaining bunch of asparagus.
Place the asparagus on a large rimmed baking sheet. Add the olive oil, salt, pepper, and garlic and toss to coat the asparagus. Spread out evenly on the baking sheet in a single layer.
Bake for 9 to 18 minutes, or until just the base of the asparagus is fork-tender. This will take on average between 10 to 12 minutes for thin asparagus and 16 to 18 minutes for thick-stemmed asparagus.
Remove from oven. Grate fresh Parmesan cheese and lemon zest over roasted asparagus and drizzle with fresh lemon juice. Toss to combine and then serve.
Use FRESH lemon juice! You will need about ½ fresh lemon for this recipe. Be sure to use fresh lemon juice, not jarred lemon juice for the best flavor.If you prefer your asparagus less crispy and just tender, roast at 400 degrees Fahrenheit for 12-18 minutes.Thin asparagus is best if you can find it. It cooks up a lot faster is much less bitter. Leftover roasted asparagus will store in the refrigerator for up to 3 days. To reheat it, it is best to heat in a 400-degree oven until just warmed through, about 5 minutes. This will prevent the asparagus from being soggy if heated in the microwave.