Preheat your oven to 425℉/215℃.
Wash and pat dry the asparagus spears. Trim the asparagus by grabbing one stalk of asparagus with both hands and gently bending it until it snaps. 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, minced garlic, kosher salt, and black pepper and toss to coat the asparagus. Spread it evenly on the baking sheet in a single layer.
Bake for 7 to 18 minutes, or until just the base of the asparagus is fork-tender. Check after 7 minutes to ensure your asparagus doesn't overbake.
Remove the baked asparagus from the oven. Add the zest and juice of the lemon and the grated Parmesan cheese. Toss to combine.
Serve immediately for best results!