This is wonderful with a bit of Parmesan grated over top, if you’re not eliminating dairy. Brown butter and pine nuts are another excellent addition you can drizzle over top. Feel free to add fresh herbs off heat, such as minced parsley, basil, and tarragon to vary the flavor profile. This can easily be given an Asian flair with some sesame oil and ginger. Or mediterranean with an Italian spice blend.
Peel the bottom half of the asparagus to ensure a tender bite then cut into 2-inch pieces.
Heat a large skillet over medium high heat and add the oil. When hot, add the asparagus. Add garlic, salt, and a tablespoon of water to the pan, stirring to evenly coat the asparagus and cover to steam for 2 minutes without stirring.
Uncover the pan and cook until no water remains, stirring occasionally, until the asparagus is tender but still has some crisp. Taste and adjust seasoning. Off heat, stir in lemon zest. Serve.