Trim by cutting off thick ends or bend until it naturally snaps at tough point.
Thin stalks 6-8 min, thick stalks 12-15 min at 425°F.
Line baking sheet with foil for easy cleanup.
Preheat the oven to 425°F (220°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.
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.