Preheat your grill to medium-high heat, around 400°F.

Lay out a large piece of aluminum foil, enough to wrap the asparagus completely.

Place the trimmed asparagus in the center of the foil.

Drizzle the asparagus with olive oil, and sprinkle with salt and pepper.

Toss the asparagus gently to coat evenly with the oil and seasonings.

Fold the foil over the asparagus, sealing the edges to create a packet.

Place the foil packet on the grill and cook for about 15 minutes, turning once halfway through.

Carefully open the packet to check for doneness; the asparagus should be tender but still slightly crisp.

If desired, squeeze fresh lemon juice over the cooked asparagus for added flavor.

Serve hot directly from the foil packet or transfer to a serving dish.