Prep the asparagus: Place your asparagus spears on a baking sheet. Drizzle them with olive oil, making sure each spear gets a little love. Toss them about so they're all evenly coated. Then sprinkle on that minced garlic, lemon zest, salt, and pepper. Toss again to spread the flavors.
Roast 'em: Pop the baking sheet into the preheated oven. Roast for about 15 minutes, or until the asparagus is tender but still a little crisp.
Lemon it up: Once out of the oven, drizzle the lemon juice over the roasted asparagus. Give them a gentle toss.
Garnish and serve: Plate your asparagus and garnish with fresh parsley.