Preheat the oven to 425°F (220°C).
Place the trimmed asparagus spears on a large baking sheet in a single layer.
In a small bowl, whisk together olive oil, minced garlic, honey, lemon juice, lemon zest, salt, and black pepper until well combined.
Drizzle the lemon honey garlic mixture evenly over the asparagus.
Toss the asparagus gently with your hands or tongs to coat all the spears evenly.
Arrange the asparagus back into a single layer on the baking sheet.
Roast in the preheated oven for 12 to 15 minutes, or until the asparagus is tender and slightly caramelized, shaking the pan halfway through cooking for even roasting.
Remove from the oven and transfer to a serving dish.
Serve warm as a flavorful side dish.