Heat oven to 450 degrees F. Coat two baking sheets with nonstick cooking spray. Trim and discard tough ends of asparagus. Place spears in a large bowl and toss with olive oil, garlic, salt and pepper.
Place half of the asparagus on each baking sheet. Roast at 450 degrees F for 10 minutes, turning halfway through.
To serve, place on a platter and sprinkle with lemon juice and lemon wedges.