Preheat a grill to medium high. Lay out four 12-by-18-inch sheets of heavy-duty foil on a work surface. Combine the asparagus, olive oil, marjoram, garlic and a pinch of salt in a large bowl and toss.
Sprinkle the steak with a big pinch of salt and the pepper. Put 2 pieces of steak side by side in the center of each sheet of foil and top with the asparagus. Bring the 2 short ends of the foil together and fold twice; fold in the sides to seal.
Put the foil packets steak-side down on the grill and cook, flipping halfway through, until the steak is cooked to medium and the asparagus is tender, about 5 minutes.
When cooking steak and veggies in the same packet, use a thin cut like skirt or hanger so everything is ready at the same time.