Grilling has to be the best way to cook asparagus
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Look for fat spears to put on the grill - their meatiness works well with grilling and they're easier to manage on the grate (and less likely to fall through!)
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Grilled asparagus tastes great hot or at room temperature and makes a tempting addition to a picnic or backyard barbeque.
Preparation - To remove woody ends, grab a stalk of asparagus at either end and bend until it snaps. It will naturally snap where it starts to get tough. Wash then dry thoroughly to prevent steaming. Toss in olive oil with a little garlic
Prepare a gas or charcoal grill for high heat then place the asparagus on the grill, cover, and cook until the asparagus color heightens and grill marks appear, about 4 to 5 minutes. Turn the asparagus, cover, and cook until tender, about 4 to 5 more minutes. Remove from the grill, sprinkle with salt, ground pepper and lemon juice (optional). Serve it hot or at room temperature.
To roast in the oven, preheat to high. Toss spears in oil and garlic, sprinkle with salt & pepper and Parmesan cheese (optional.) Arrange the asparagus onto a baking sheet in a single layer.
Bake until just tender, about 10 minutes or more depending on thickness. Sprinkle with lemon juice just before serving.
The secret here is for the oven to be very hot so the asparagus can begin to brown on the outside without overcooking and getting too flimsy. You want the finished asparagus to still have a bite to it.
