Preheat the oven to 400 degrees F.

In a large bowl, combine the trimmed pencil asparagus, washed and stemmed cherry tomatoes, and peeled and smashed garlic cloves.

Drizzle with extra-virgin olive oil and season with kosher salt and freshly ground black pepper.

Toss to coat all the ingredients evenly.

Transfer the mixture to a large baking sheet with sides.

Drizzle fresh lemon juice over the asparagus and add the lemon halves to the pan.

Place the baking sheet in the preheated oven.

Roast for 20 to 25 minutes, or until the asparagus are tender and the tomatoes begin to caramelize.

Remove from the oven and serve hot or at room temperature.