Thoroughly wash the asparagus and pat it dry with a kitchen towel. Snap off the woody ends – this is easily done by bending the asparagus; it will naturally break at the right spot.
In a small bowl, combine the olive oil, minced or grated garlic, salt, and pepper.
Using a brush or your hands, evenly spread the oil mixture over the asparagus spears, ensuring each one is well coated.
Preheat your grill to medium-high heat. If grilling on grates, lightly oil them to prevent the asparagus from sticking.
Place the asparagus on the grill perpendicular to the grates to prevent them from falling through. Grill for approximately 3-5 minutes per side, until slightly charred but still crisp-tender.
After grilling, sprinkle with freshly grated Parmesan cheese and squeeze lemon juice over for extra freshness.
Serve warm as a side dish or as a standalone dish as part of a light summer meal.
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