Rinse the asparagus under cold water
Trim off the tough woody ends
Fill a pot with 1 to 2 inches of water
Place a steamer basket in the pot
Bring the water to a boil
Add the asparagus to the steamer basket
Cover the pot with a lid
Steam thin asparagus for 2 to 4 minutes
Steam medium asparagus for 4 to 6 minutes
Steam thick asparagus for 6 to 8 minutes
Check for tenderness with a fork
Remove the asparagus from the steamer
Season with salt, pepper, butter, or lemon if desired