Wash asparagus spears and pat them dry with a clean towel. Snap or slice off the woody ends. Toss the spears with a teaspoon of olive oil.
Make the lemon-garlic aioli. Measure and combine all remaining ingredients in a small bowl, using a whisk to stir until no lumps remain.
Heat a skillet over medium heat. Add the asparagus spears, add a teaspoon more of oil and sauté for 6 - 10 minutes, turning once or twice until tender-crisp. Cooking time will depend on the thickness of the asparagus stalks.
Transfer the cooked asparagus to a warm serving dish and drizzle with lemon-garlic aioli. Serve right away.
Notes
While cooked asparagus spears are always best when served right away, you can store and reheat your leftovers. Refrigerate asparagus stalks in an airtight container. I like to reheat them in the air fryer at 350°F. for 2 to 3 minutes.