Set the oven to broil. Mine has a low and high setting and I used the high setting.
Line a cookie sheet with aluminum tin foil.
Cut the hard bottom ends off of the asparagus. This is the bottom part of the asparagus where it is lighter in color.
Place the asparagus side by side on the cookie sheet.
Pour the olive oil evenly over the asparagus then pour the lemon juice on top. Sprinkle with salt and pepper.
Put the asparagus into the oven and let it broil for 6-8 minutes, then briefly remove the pan from the oven and move the asparagus a bit with a fork, making sure the lemon juice is in middle of pan and the asparagus has oil on them.
Then let the asparagus broil for 2-4 more minutes. The extra broiling time depends on if the asparagus is cooked enough to your liking. I like when the asparagus is golden, with crispy tops. The timing on how long this will take depends on your oven. In my current oven, my asparagus cooked for 11 minutes total on high broil.