1 Preheat Your Grill For High, Direct Heat. 2 Prepare The Asparagus By Breaking Or Cutting Off Any Tough Bottom Ends (Can Save For Stock, Or Discard). Place The Asparagus In A Pan (To Contain The Spears While You Put Them On And Take Them Off The Grill). Coat Them With Olive Oil And Sprinkle Salt Over Them. 3 Grill The Asparagus Spears For 5-10 Minutes, Until Nicely Charred And Just Fork Tender, Turning Them Every Few Minutes So That They Brown Relatively Evenly. Remove From Grill And Serve.