Follow these simple steps to achieve perfectly charred, tender-crisp asparagus every time. The key is a hot grill and careful timing to avoid overcooking.

1. Prepare the Grill: Preheat your outdoor grill or indoor grill pan to medium-high heat (around 400-450°F or 200-230°C). A hot grill is crucial for getting those beautiful char marks without turning the asparagus mushy. While the grill heats up, clean the grates with a grill brush to prevent sticking.
2. Prep the Asparagus: Wash the asparagus stalks under cold running water and pat them completely dry with a paper towel. This is a vital step; moisture will steam the asparagus instead of allowing it to char. Trim the tough, woody ends from the bottom of each stalk. The easiest way to do this is to take one stalk and bend it near the bottom. It will naturally snap at the point where the tender part begins. Use this as a guide to line up the rest of the stalks and trim them with a knife.
3. Season the Asparagus: Place the trimmed and dried asparagus in a large bowl or on a baking sheet. Drizzle with 1 tablespoon of olive oil, and sprinkle with the kosher salt and freshly ground black pepper. Use your hands to toss everything together, ensuring each stalk is lightly and evenly coated.
4. Make the Lemon Drizzle: While the grill continues to preheat, prepare the drizzle. In a small bowl, combine 1 tablespoon of extra virgin olive oil, the zest of one lemon, and the juice of half the lemon (about 1-2 tablespoons). If you are using it, add the minced garlic now. Whisk everything together until well combined. Set it aside.
5. Grill the Asparagus: Place the seasoned asparagus stalks on the hot grill grates in a single layer. It’s important not to overcrowd the grill. Lay them perpendicular to the grates to prevent them from falling through. Grill for 3-7 minutes, turning them occasionally with tongs, until they are tender-crisp and have light char marks. Thinner stalks will cook faster (3-4 minutes), while thicker stalks may need closer to 7 minutes. The asparagus should still have a slight bite to it.
6. Combine and Serve: Immediately remove the grilled asparagus from the grill and place it on a serving platter. While it’s still hot, drizzle the prepared lemon mixture over the top. Give it a gentle toss to coat. For an extra touch of freshness, you can squeeze the remaining half of the lemon over the top just before serving. Serve warm.