Toss the asparagus, garlic and olive oil in a large glass baking dish.
Once the asparagus is well coated, sprinkle with salt and pepper and place in a preheated 450 degree F oven.
Cook for 10 to 15 minutes, stirring occasionally. Keep a close eye on them because they will cook quickly, especially if the spears are thin. You will know they are ready when they are dark green and crisp-tender.
Remove the asparagus from the oven and transfer to a serving plate.
Sprinkle with lemon juice, grated Parmesan and additional salt and pepper if needed. Serve warm or at room temperature.