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Wash and snap the asparagus. To snap the asparagus, hold at the bottom of the stem and gently bend. It will naturally break where the tough end stops. Compost or throw away the hard ends.
Lay out foil. Spread the asparagus on the foil. Sprinkle with some olive oil, salt pepper and crushed garlic. Gently toss. Spread out on the foil and top with lemon slices.
Bake in the oven or on the grill turning once after about 10 minutes.
If you do this stove top, you do not need the foil. The process is the same. You will need to stir several times.