Gather all ingredients. Preheat the oven to 425 degrees F (220 degrees C).
Place asparagus into a mixing bowl; drizzle with olive oil and toss to coat.
Sprinkle with Parmesan cheese, garlic, salt, and pepper. Arrange asparagus in a single layer in a baking dish.
Bake in the preheated oven until just tender, 12 to 15 minutes depending on thickness. Sprinkle with lemon juice just before serving.
