Place asparagus, olive oil, salt, and pepper into a large bowl or platter. Toss asparagus until evenly coated.
Carefully place the asparagus on the grill*
Grill for 8-10 minutes, turning occasionally, until tender and slightly charred.
Squeeze fresh lemon juice over the asparagus before serving.
Notes
*Lay spears perpendicular to the grates (or use a grill basket) so they don't fall through.Thicker spears hold up best on the grill; if using thin spears, shorten the cook time by a couple of minutes.