Preheat and Prep: Preheat your oven to 400°F (200°C). Line a large baking sheet with parchment paper or a silicone mat for easy cleanup.
Season the Asparagus: Place the trimmed asparagus spears on the baking sheet. Drizzle with olive oil and sprinkle with garlic powder, salt, and pepper. Toss with your hands to ensure every spear is evenly coated.
Add the Cheese: Spread the asparagus in a single layer, ensuring they aren't crowded. Sprinkle the freshly grated parmesan cheese over the top of the spears.
Roast: Bake for 12–15 minutes. Thin spears will take less time; thicker spears may need the full 15 minutes. The asparagus should be tender-crisp and the cheese should be golden and bubbly.
Make the Aioli: While the asparagus roasts, whisk together the mayonnaise (or yogurt), lemon juice, lemon zest, minced garlic, and salt in a small bowl. Cover and refrigerate until ready to serve.
Serve: Transfer the warm asparagus to a serving platter. Sprinkle with fresh lemon zest and serve immediately with the chilled lemon aioli on the side.