Preheat the grill or grill pan over medium-high heat.
Rinse the asparagus under cold water and trim the tough ends (about 1 inch) from the bottom.
In a mixing bowl, combine olive oil, minced garlic, salt, black pepper, and lemon juice. Stir well to combine.
Add the asparagus to the bowl and toss until evenly coated with the oil and seasoning mixture.
Place the seasoned asparagus directly on the grill or grill pan.
Cook for approximately 5-7 minutes, turning occasionally with tongs, until the asparagus is tender and has nice grill marks.
Remove the asparagus from the grill and transfer it to a serving platter.
If desired, sprinkle with grated Parmesan cheese for added flavor before serving.