Preheat grill to medium-high heat (about 400–450°F / 200–230°C)
Wash and dry asparagus
Trim tough ends (snap or cut about 1–2 inches / 2.5–5 cm)
Toss asparagus with olive oil, salt, and black pepper
Optional: add garlic powder, lemon zest, or red pepper flakes
Arrange asparagus on the grill in a single layer
Grill with the lid closed as much as possible
Cook 3–5 minutes, then flip or turn
Cook an additional 2–4 minutes, until tender-crisp and lightly charred
Remove and immediately toss with lemon juice and adjust seasoning
Optional: finish with grated Parmesan, balsamic glaze, or a drizzle of olive oil