Preheat your grill to medium-high heat (approximately 400-450°F).

Wash asparagus spears thoroughly under cold water.

Trim the tough, woody ends of the asparagus. You can either snap them off where they naturally break or cut approximately 1-2 inches from the bottom.

Place trimmed asparagus in a large shallow dish or on a baking sheet.

Drizzle olive oil over the asparagus and add minced garlic if using.

Season with salt and pepper, then toss to coat evenly.

Place the asparagus spears perpendicular to the grill grates to prevent them from falling through.

Grill for 3-5 minutes, turning occasionally, until the asparagus is tender-crisp and has nice grill marks.

Transfer to a serving platter, squeeze fresh lemon juice over the top, and sprinkle with Parmesan cheese if desired.

Serve immediately while hot.