Trim the woody ends of the asparagus and rinse thoroughly, then pat dry. Set aside.
Heat a large skillet over medium heat and add 1-2 tablespoons of olive oil, enough to lightly coat the bottom.
Place the asparagus in a single layer in the skillet and cook for 3-4 minutes, shaking the pan occasionally until they turn vibrant green and start to develop slight charring.
While the asparagus cooks, thinly slice the garlic cloves. Once the asparagus begins to soften, add the garlic slices to the pan.
Sauté the garlic for 1-2 minutes until fragrant and golden around the edges, but not burnt. You'll smell the aroma intensify.
Zest half of the lemon directly over the skillet using a microplane, then squeeze in the juice of the lemon (about 2 tablespoons). Stir gently to coat the asparagus evenly.
Cook for another minute, allowing the lemon juice to reduce slightly and mingle with the garlic and oil, brightening the dish.
Remove the skillet from heat. Taste and season with flaky sea salt and freshly cracked black pepper. Add chili flakes if desired for a hint of heat.
Transfer the asparagus to a serving plate, and if you like, sprinkle with extra lemon zest for added brightness. Serve immediately for best flavor and texture.