Preheat oven to 400 degrees F.
Take the asparagus, and cut off the tough ends (where the woody part ends).
Place asparagus on a baking sheet and toss with the olive oil, a sprinkle of salt and pepper.
Cook for 20 minutes, or until tender.
Once done, plate and top with lemon zest from one lemon. Serve with lemon halves for additional lemon flavor, if desired.