Preheat oven to 425°F and line a sheet pan with parchment paper.
In a large bowl, combine olive oil, minced garlic, lemon zest, lemon juice, salt, black pepper, and red pepper flakes.
Add the shrimp and asparagus to the bowl and toss until everything is well coated with the lemon-garlic mixture.
Spread the shrimp and asparagus in a single layer on the prepared sheet pan, making sure not to overcrowd, and arrange lemon slices on top.
Bake for 10-12 minutes until shrimp are pink and opaque and asparagus is tender with slightly crispy tips.
Serve immediately with extra lemon wedges on the side.