Step 1: Prepare the asparagus. Wash the asparagus spears thoroughly under cold water. Pat them dry with a clean kitchen towel. To trim the tough woody ends, you can either snap them off (they naturally break where the tough part meets the tender) or use a knife to cut off the bottom 1-2 inches.
Step 2: Season the asparagus. In a large bowl, toss the trimmed asparagus with olive oil, sea salt, and black pepper. Ensure all spears are evenly coated. For extra flavor, you can add minced garlic at this stage.
Step 3: Preheat the grill. Preheat your grill to medium-high heat (about 400-450°F or 200-230°C). Clean the grill grates thoroughly with a wire brush. Lightly oil the grates by dipping a paper towel in a little oil and rubbing it over the hot grates with tongs.
Step 4: Grill the asparagus. Place the seasoned asparagus spears in a single layer directly on the hot grill grates, perpendicular to the grates so they don't fall through. Close the lid if your grill has one.
Step 5: Cook until tender-crisp. Grill for 3-5 minutes, turning occasionally, until the asparagus is bright green, tender-crisp, and shows nice char marks. Thinner spears will cook faster than thicker ones. Keep an eye on them to prevent overcooking.
Step 6: Finish and serve. Transfer the grilled asparagus to a serving platter. Squeeze fresh lemon juice over the top. If desired, sprinkle with grated Parmesan cheese while still warm. Serve immediately and enjoy your perfect grilled asparagus recipes!