We found that the best way to grill asparagus is to lay it right on the grill grates at an angle--no foil packet or grilling basket necessary. We jazzed ours up with tangy, creamy feta and fresh mint. To get a good char, be sure to use medium-sized asparagus -- no pencil-thin stalks here!
Prepare a grill for medium heat. Chop the tough, woody ends off the asparagus (about 1 inch) and peel another inch of the stalks.
Whisk the lemon juice, olive oil, garlic, 1/2 teaspoon salt and 1/4 teaspoon pepper together in a large bowl. Add the asparagus and toss until well coated.
Put the asparagus on the grill at an angle so the stalks don't fall through the grates. Grill, flipping halfway through cooking, until the asparagus begin to char, the pointy ends start to crisp and the stalks are just tender, 3 to 5 minutes. Remove to a platter and sprinkle with the feta and mint.