Preheat oven to 425 degrees. Place a piece of parchment paper on a baking sheet.
Cut or snap off the ends of the asparagus (about 2 inches)
Place the asparagus on the lined baking sheet. Drizzle with olive oil, garlic sprinkle salt, pepper and red pepper flakes over top.
Bake for 10-12 minutes or until desired tenderness.
Remove from oven and sprinkle parmesan cheese over top and drizzle with lemon if desired.
Video
Notes
Don't overcrowd the pan or they will steam instead of roasting.The cooking time really depends on the thickness of the asparagus, you'll know when it's done because a fork will pierce threw it easily. Pencil-thin asparagus spears will take about 8-10 minutes. Thicker spears can take about 15 minutes.