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Preheat the oven to 400ºF. Rinse the asparagus well, then trim off the dry or woody end of the stem (usually about one inch needs to be removed from the ends). Mince two cloves of garlic.
Line a baking sheet with parchment paper for easy cleanup, if desired. Place the trimmed asparagus on the baking sheet along with the minced garlic. Drizzle the olive oil over top, then add the salt and pepper. Toss the asparagus until they are coated in garlic, oil, salt, and pepper.
Transfer the asparagus to the preheated 400ºF oven and roast for 20 minutes or until they have browned to your liking (roasting time may vary depending on the girth of your asparagus). Stir once halfway through roasting.
While the asparagus are cooking, zest the lemon using the fine side of a box grater or a small-holed cheese grater. You'll need about 1 tsp zest. After zesting, cut the lemon into wedges.
Once the asparagus are roasted, add the lemon zest and a couple squeezes of lemon juice. Toss to coat. Taste and adjust the salt or lemon as desired. Serve with the remaining lemon wedges.