Trim asparagus stalk ends off (about 1-2 inches). Add to a bowl with salt, pepper, lemon juice and a ½ tablespoon olive oil.
With remaining ½ tablespoon olive oil, lightly grease the grill pan you are using to cook the asparagus on.
Heat a grill pan to medium-high heat. Once the pan is hot, add the asparagus. Cook for 3 minutes on each side. Remove from heat immediately and serve! Enjoy!