Gather all ingredients. Preheat the oven to 425 degrees F (220 degrees C).

Place asparagus into a mixing bowl, drizzle with olive oil, and toss to coat.

Sprinkle with Parmesan cheese and garlic; season to taste with salt and pepper if using. Arrange asparagus in a single layer in a baking dish or on a rimmed baking sheet.

Bake in the preheated oven until just tender, 12 to 15 minutes depending on thickness. Sprinkle with lemon juice just before serving, and serve immediately for the best texture.