Preheat the oven to 375 degrees.
Zest the lemon into a bowl and set aside.
Then cut the lemon in half and squeeze the juice of one of the quarters into a bowl and set the juice to the side.
In a small bowl, combine the lemon zest, shallot, oil, salt and pepper and mix well.
Wash and prep the asparagus.
Spray a baking sheet or an oven safe pan with nonstick cooking spray.
Place the asparagus on the sheet pan or in the baking dish.
Pour the mixture over the asparagus.
Roast asparagus in the oven for 15 minutes.
Remove from the oven and drizzle the lemon juice over the top.