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.
Toss shrimp and asparagus in the lemon-garlic mixture until well coated.
Spread shrimp and asparagus in a single layer on the prepared pan without overcrowding. 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.