Rinse the asparagus under cold water and pat them dry with a paper towel. Trim the woody ends of the asparagus by snapping them off or using a knife.
Heat a large skillet over medium-high heat and add the olive oil.
Once the oil is hot, add the minced garlic to the skillet and sauté for about 30 seconds, until fragrant but not browned.
Add the trimmed asparagus to the skillet and season with salt and pepper. Toss to coat the asparagus in the garlic and oil.
Sauté the asparagus for about 5-7 minutes, turning occasionally, until they are bright green and tender-crisp.
Remove the skillet from heat and serve immediately with lemon wedges, if desired.
For added flavor, sprinkle some grated Parmesan cheese over the asparagus before serving.
Adjust the cooking time if you prefer your asparagus more tender.