Preheat an oven to 425 degrees F (220 degrees C).
Place the asparagus into a mixing bowl, and drizzle with the olive oil. Toss to coat the spears, then sprinkle with Parmesan cheese, garlic, salt, and pepper. Arrange the asparagus onto a baking sheet in a single layer.
Bake in the preheated oven until just tender, 12 to 15 minutes depending on thickness. Sprinkle with lemon juice just before serving.
To remove woody ends, grab stalk of asparagus at either end and bend until it snaps. It will naturally snap where it starts to get tough.