Heat oven to 400°F. Line cookie sheet with parchment paper.
Spread asparagus in single layer on cookie sheet. Drizzle oil over asparagus; toss to coat. Sprinkle with lemon peel, salt and a generous sprinkling of pepper.
Bake 20 to 25 minutes or until asparagus is crisp-tender. Just before serving, drizzle lemon juice over asparagus.