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Preheat the grill to medium heat, 375 degrees F to 400 degrees F (if using a grill pan, preheat it along with the grill). Once the grates are hot, brush them very clean.
Snap off the woody ends of the asparagus by holding the stem end in one hand and gripping it near the base with the other. Briskly bend and the asparagus will naturally snap in the right place. Discard the stem ends.
Place the asparagus spears on a baking sheet or serving platter. Drizzle with the oil and sprinkle with salt and pepper. Toss to coat the asparagus evenly.
To grill: with tongs, place the asparagus across the grill grates so that the spears are perpendicular to the grates (or place them in an even layer in the pan or grill basket).
Close the lid and grill for 6 to 10 minutes, turning the spears once or twice throughout so that they grill evenly.
Transfer to a platter (I use the same one I used to drizzle the asparagus). Add any desired toppings and adjust salt and pepper to taste. Enjoy warm or at room temperature.