Food & Cooking Recipes Quick & Easy Recipes Sauteed Asparagus with Lemon 4.0 (23) Close Servings: 4 Try this side with seared steak, roasted lamb or chicken. Directions In a large skillet, heat olive oil over medium. Add asparagus, and season with salt and pepper. Cook, tossing occasionally, until lightly browned and crisp-tender, 10 to 15 minutes, depending on thickness. Add lemon zest and cook 1 minute. Add lemon juice, toss to coat, and serve warm.