Preheat your oven to 425°F, lining a large baking sheet with parchment paper or foil.
Trim or snap off the woody ends of the asparagus.
Drizzle asparagus with olive oil, minced garlic, salt, and pepper; toss well to coat.
Spread the seasoned spears in a single layer on your prepared baking sheet.
Bake at 425°F for 12–15 minutes, rotating halfway through.
Transfer hot asparagus to a serving platter, sprinkle lemon zest, and squeeze lemon juice over the top.
