Heat your grill to medium-high heat, about 350-400°F (175-205°C)
Cut the bottom ⅓ off of the asparagus, or snap the asparagus, discarding the bottom of the stems
In a small bowl, combine the olive oil, juice of lemon, salt, and black pepper
Place asparagus in a ziplock bag and coat with the olive oil and lemon juice mix. Toss to fully coat the asparagus.
Once your grill has warmed up, place the asparagus on the grill perpendicular to the grates. Grill for 3-5 minutes per side, until the asparagus turns a vibrant green color and is tender.
Serve right away with a garnish of grated Parmesan cheese and a squeeze of lemon