Soak four to six 12-inch wooden skewers in water for 10 minutes. Preheat grill to medium (375º-425º). Remove tough ends of asparagus. Place 4 or 5 asparagus stalks next to one another and skewer them crosswise in two places: below the tips and about 1 inch from the bottom of the stalk. Continue adding asparagus until about 10-12 pieces are on the first two skewers. Repeat with remaining asparagus and additional skewers.

Combine olive oil and garlic. Brush both sides of skewered asparagus, then season with salt and pepper. In a separate dish, combine lemon zest, Parmesan and red pepper flakes.

Place asparagus on grill for 2-3 minutes. Flip, sprinkle with Parmesan mixture and continue to grill about 3 minutes, or until desired doneness. Remove from grill, drizzle with lemon juice.