Preheat your oven to 400°F (200°C).
Rinse the asparagus under cold water and trim the tough ends.
In a large mixing bowl, combine olive oil, minced garlic, salt, black pepper, and red pepper flakes. Stir well.
Add the asparagus to the bowl and toss until well-coated. Spread in a single layer on a baking sheet lined with parchment paper.
Sprinkle grated Parmesan cheese over the asparagus. Roast for 15-20 minutes until tender and cheese is golden brown.
Remove from oven and drizzle with fresh lemon juice before serving.