Toast ¼ cup panko with 1 grated garlic clove and a pinch of salt in a skillet with olive oil.
Mix with 1 tablespoon chopped parsley and 1 teaspoon lemon zest.
Toss 2 bunches trimmed asparagus with olive oil, salt and pepper.
Grill over medium-high heat until just tender, 5 to 6 minutes.
Top with the panko mixture.
