Preheat the oven to 400°F (200°C).
Arrange the trimmed asparagus on a baking sheet.
Drizzle with olive oil, and sprinkle with salt and pepper.
Toss to coat evenly and spread in a single layer.
Roast in the oven for 15-20 minutes, until tender and slightly crispy.
Remove from oven and drizzle with lemon juice and sprinkle with Parmesan cheese.
Heat olive oil in a skillet over medium heat.
Add minced garlic and sauté for 1 minute until fragrant.
Incorporate asparagus into the pan and sauté for 5-7 minutes until tender-crisp.
Season with salt and pepper, and drizzle with balsamic vinegar if desired.