Preheat an oven to 425˚ F.
Place the asparagus into a mixing bowl, and drizzle with the olive oil.
Toss to coat the spears, then sprinkle with Parmesan cheese, garlic, salt and pepper.
Arrange the asparagus onto a baking sheet (lined with parchment paper) in a single layer.
Bake in the preheated oven until just tender, 8 to 12 minutes depending on thickness.
Drizzle with Balsamic vinegar just before serving.