Preheat the grill to medium-high heat
Wash the asparagus and trim the woody ends
Place the asparagus on a large sheet of aluminum foil
Drizzle with olive oil
Sprinkle with salt and black pepper
Add minced garlic, lemon juice, or herbs if desired
Toss to coat evenly
Fold the foil into a sealed packet
Leave a little space inside for steam
Place the foil packet on the grill
Grill for 8 to 12 minutes
Turn the packet once halfway through cooking
Check for tenderness with a fork
Remove from the grill carefully
Open the packet away from your face
Serve immediately