Preheat oven to 400 degrees. On a baking sheet, arrange the asparagus in a single layer. Toss in the olive oil and sprinkle with salt and pepper.
Roast for 8-10 minutes or until the asparagus is crisp on the outside and tender in the center. Toss in the garlic, parmesan, and lemon juice. Add more if desired. Serve immediately.