Preheat oven to 425°F and line a large baking sheet with parchment paper.

Pat the asparagus completely dry with paper towels and arrange in a single layer on the prepared baking sheet.

Drizzle olive oil over asparagus, then sprinkle with minced garlic, salt, and pepper. Toss to coat evenly.

Sprinkle the Parmesan cheese evenly over the asparagus.

Roast for 10-12 minutes until asparagus is tender and cheese is golden and crispy.

Remove from oven, sprinkle with lemon zest, and serve immediately.