In a gallon-size zip top bag add trimmed asparagus, salt, black pepper, olive oil, and minced garlic. Seal the bag and toss the asparagus with all the ingredients inside the bag.
Heat the grill on high-heat. Clean and then reduce the heat to low (temperature of grill should read between 300-400 degrees Fahrenheit). Carefully, place the asparagus on the grill for 10 minutes. Turn once during the cooking process. Remove, and sprinkle with two tablespoons shredded parmesan cheese.
*The black pepper makes this asparagus super spicy. If you don't like spicy food then add less pepper.