Start by trimming off the woody ends of the asparagus. Place the stalks in a large bowl and toss them with olive oil, minced garlic, salt, and black pepper. Make sure each piece is evenly coated for best flavor.
Preheat your grill or grill pan over medium-high heat. Lightly oil the surface to prevent sticking. Grill the asparagus for about 3–5 minutes, turning once, until tender and slightly charred.
In a small bowl, whisk together fresh lemon juice and olive oil until smooth. This simple dressing adds brightness and balances the smoky flavor.
Let the grilled asparagus cool slightly, then cut into bite-sized pieces. Transfer to a serving bowl, add crumbled feta, and drizzle with the lemon dressing. Toss gently and serve immediately.