In a large mixing bowl, combine the trimmed asparagus, olive oil, minced garlic, lemon zest, lemon juice, salt, and black pepper. Toss until the asparagus is well-coated.
Spread the asparagus in a single layer on a baking sheet lined with parchment paper for easy cleanup.
Roast the asparagus in the preheated oven for 12-15 minutes or until it is tender and slightly caramelized.
If you'd like, sprinkle grated Parmesan cheese over the asparagus during the last 2 minutes of roasting to allow it to melt.
Remove from the oven, and garnish with fresh parsley before serving.