Toast 1/4 cup panko with 1 grated garlic clove and a pinch of salt in a skillet with olive oil. Mix with 1 tablespoon chopped parsley and 1 teaspoon lemon zest. Toss 2 bunches trimmed asparagus with olive oil, salt and pepper. Grill over medium-high heat until just tender, 5 to 6 minutes. Top with the panko mixture.