Preheat oven to 400 degrees. Spray a baking sheet with nonstick spray.
In a bowl, combine the garlic, dijon, olive oil, and lemon juice. Mix well.
Spread the asparagus in a single layer on the baking sheet and drizzle the dijon mixture over the top and lightly mix. Bake for 10 minutes or until the asparagus is tender. Serve hot.
Notes
Optional: Sprinkle 3 tablespoons of grated parmesan cheese over the top of the asparagus after baking and before serving.