Preheat the grill to medium-high heat
Wash the asparagus and trim off the woody ends
Pat the asparagus dry
Toss the asparagus with olive oil, salt, and pepper
Place the asparagus perpendicular to the grill grates or use a grill basket
Grill for 4 to 6 minutes, turning occasionally
Remove when the asparagus is tender and lightly charred
Serve immediately