Spray a baking sheet with nonstick cooking spray, and spread the trimmed asparagus out on the baking sheet. Season the asparagus with salt and pepper and set aside while you make the sauce.
In a medium mixing bowl, whisk together the melted butter, honey, lemon juice, and garlic until combined. Drizzle the sauce over the asparagus, making sure all of the asparagus gets coated.
Roast the asparagus in the preheated oven for 15 to 20 minutes, until fork-tender. Transfer the asparagus to a serving plate and drizzle with the remaining sauce from the sheet pan. Garnish with lemon zest if desired. Enjoy!
Leftover asparagus can be stored in an airtight container in the refrigerator for up to three days.