Rinse the asparagus. Pat dry with a paper towel. Trim off the end pieces (approximately 1-2 inches).
Add oil to a large skillet on medium-high heat.
When oil is hot, add trimmed asparagus in a single layer. Cook for 3 to 5 minutes, flipping occasionally, until stalks are just on the verge of tender.
Reduce heat to medium. Add lemon juice, garlic, salt, and pepper to the asparagus. Cook for 1 to 2 minutes or until asparagus is tender. Then stir in grated parmesan cheese. It will turn golden in color right away since everything is hot. Turn off heat so your cheese doesn't burn.
Serve immediately. Optional: Add an extra drizzle of lemon juice and/or shaved parmesan to the top of the asparagus as you plate.