Fresh asparagus, like so many other vegetables, is just delicious when grilled, and it's so very easy to do! For a flavor boost, we've marinated the asparagus, but if you're in a hurry, skip this step and just brush the spears with olive oil prior to grilling. To facilitate hassle-free cooking, try to select spears that are all about the same thickness.
Place the asparagus in a gallon-size ziplock bag or in a pan just large enough to accommodate the spears.
Place the oil, vinegar, lemon juice, garlic, salt and pepper in a glass jar with a tight fitting lid, and shake vigorously to combine. Pour the marinade over the asparagus, coating all surfaces. Marinate at room temperature for at least 30 minutes, preferably 1 hour. If marinating longer (up to 3 hours), place the asparagus in the refrigerator.
To cook, grill the asparagus directly over medium heat, turning once or twice with tongs, until they're crisp-tender, 4 to 8 minutes depending on the thickness of your spears. Serve hot, cold, or at room temperature.