Preheat the grill to high for 10-15 minutes while preparing the asparagus.
In a shallow dish, combine the olive oil, lemon juice, and grated garlic. Whisk to combine, then add the asparagus spears. Season with kosher salt and pepper to taste, then toss to coat.
Make an asparagus raft by threading the asparagus onto skewers. (See detailed how-to images in the blog post.) Start by inserting the first skewer about 1-inch in from the woody stem. Then insert a second skewer about 1 1/2 inches up the spear from the first avoiding piercing the stem near the tender tip.
Continue this asparagus spear threading process until the "raft" has 8 spears, then begin another "raft" until all of the asparagus is threaded onto skewers.
Pour any remaining olive oil, lemon juice mixture over the asparagus rafts.
When the grill is preheated, reduce the heat on one side of the grill to low (or cut off completely) creating direct and indirect cooking zones. Lay the side of the "rafts" with the tough woody stems over the direct heat and extend the tender tips towards the side of the grill that has indirect heat.
Grill for 4 minutes, then flip, and cook for an additional 2-3 minutes until the asparagus spears are cooked through and are crisp tender. Remove from the grill.
Before serving, remove the spears from the skewers and line them up in a cutting board, tips facing the same direction. Use a sharp knife to cut off the tough woody stems. Grilled asparagus is best served immediately. Leftovers can be stored, covered, in the fridge for up to 3-5 days.