Preheat the oven to 450°F. Snap the ends off of the asparagus with your fingers. It should naturally snap off at the woody part, leaving the tender part to roast. Place the asparagus on a rimmed baking sheet and drizzle the olive oil over it. Sprinkle the salt and pepper over asparagus, then using your hands, toss the asparagus to coat. Roast the asparagus in the oven for 10 to 12 minutes (if the asparagus is fat) or 8 to 10 minutes if the asparagus is skinny. You want the asparagus to be tender crisp and bright in color still.
While the asparagus is roasting prep the dressing by zesting the lemon into a medium sized bowl, then juicing it and adding it to the zest. Add the garlic to the lemon juice and toss. Add the remaining ingredients then stir to combine. Taste and adjust salt and pepper if needed, keeping in mind that the asparagus will have salt and pepper on it from the roasting.
Once the asparagus is done roasting, transfer them to a serving plate while still hot. Spoon half the dressing over the asparagus and serve with the remaining dressing.
Adapted from the cookbook Dinner at Home by JeanMarie Brownson