Asparagus spears can very a lot in thickness so make sure to adjust your cooking times. Also, try to select all the same thicknesses for consistent cooking.
Preheat oven to roast at 400°F. Lay foil or parchment on baking sheet. Set aside.
In large bowl, toss together asparagus, garlic, olive oil, balsamic vinegar and stir until combined. Season with salt and pepper.
Transfer asparagus on prepared sheet pan. Bake in oven for about 10-20 minutes, or until tender. Adjust your cooking time depending on thickness of your asparagus and your preferred texture.
Add additional salt and pepper to taste if needed. Optional - Squeeze fresh lemon juice on top before serving. Serve warm.