Preheat the oven to 400°F (200°C).
Rinse the asparagus under cold water and pat dry. Trim the woody ends by snapping or cutting off about 1 to 2 inches from the bottom of each spear.
Place the asparagus spears on a baking sheet in a single layer.
In a small bowl, combine the olive oil, minced garlic, kosher salt, and black pepper.
Drizzle the olive oil mixture evenly over the asparagus and toss gently with your hands or tongs to coat all the spears evenly.
Spread the asparagus back out in a single layer on the baking sheet.
Roast the asparagus in the preheated oven for 12 to 15 minutes, or until the spears are tender and slightly browned.
Remove the baking sheet from the oven and immediately sprinkle the grated Parmesan cheese evenly over the hot asparagus.
Sprinkle the lemon zest over the asparagus and Parmesan.
Serve warm as a flavorful side dish.