In a large mixing bowl, combine the asparagus, minced garlic, olive oil, lemon zest, lemon juice, and red pepper flakes (if using). Season with salt and pepper to taste.
Toss the asparagus gently to ensure all the spears are evenly coated with the mixture.
Spread the asparagus in a single layer on a lined baking sheet.
Roast in the preheated oven for 12-15 minutes, or until the asparagus is tender and slightly caramelized.
Once done, remove from the oven and transfer to a serving dish.
Garnish with freshly chopped parsley for a vibrant touch.