Step 1: Preheat your grill to medium-high heat (about 400°F / 200°C). If using a gas grill, ensure the grates are clean. If using charcoal, wait until the coals are glowing and covered with a light ash.
Step 2: Wash the asparagus spears and pat them completely dry with a paper towel. This helps ensure a good char.
Step 3: Trim the woody ends of the asparagus. You can do this by holding each spear and bending it until it naturally snaps, or by cutting off the bottom 1-2 inches with a knife.
Step 4: In a medium bowl, toss the trimmed asparagus with the olive oil, sea salt, and black pepper until all spears are evenly coated. If using, add the minced garlic here.
Step 5: Place the seasoned asparagus spears directly on the preheated grill grates. Lay them perpendicular to the grates so they don’t fall through.
Step 6: Grill for 3-5 minutes per side, or until they are tender-crisp and show nice char marks. Cooking time will vary based on the thickness of the spears and the heat of your grill. For thinner spears, aim for shorter cooking times; thicker spears will need a bit longer.
Step 7: Remove the grilled asparagus from the grill and transfer to a serving platter. If desired, squeeze fresh lemon juice over the top before serving. Serve immediately and enjoy your perfectly grilled asparagus!