Place asparagus in a roasting pan; drizzle iwth olive oil. Sprinkle evenly with salt and pepper. Bake for 8 minutes or until tender-crisp.
In the meantime, melt butter and minced garlic in a small skillet over medium-high heat; cook 3 minutes or until lightly browned and foamy, shaking pan occasionally. Do not burn. Remove from heat; stir in lemon juice. Drizzle butter mixture over roasted asparagus, toss well to coat. Srinkle lemon zest over asparagus.