Line a baking tray with baking paper (parchment paper).
Wash the asparagus well then break off the ends (see Note 1). Place asparagus on the baking tray and drizzle with olive oil and season with salt and pepper. Toss to coat then spread the asparagus in a single layer on the baking tray. Roast for approximately 10-20 min (depending on the thickness of your asparagus spears) or until the asparagus is just lightly browned, and tender but still crisp.
Remove from oven, sprinkle with lemon zest and juice and serve.
Note 1: Bend the asparagus spear approximately 1 inch from the base and it should snap off the woody end leaving behind the tender part of the spear.