While your meat/main dish is out on the grill is plenty of time to get your asparagus ready to throw on there too. They grill in about 5-7 minutes so you can time it toward the end of your meats cooking time (depending on size /type of meat).
To grill asparagus:
Wash/rinse asparagus under cool running water.
Trim off the last inch or so off the end, it tends to be a bit too tough for most people:
If your asparagus is a larger /fatter diameter than about 1/3 inch you may want to peel the bottom stems. If they are thicker than that, they can be a little bit tough. (I prefer them peeled, my hubby doesn't care):
Place trimmed, and peeled asparagus in a pan large enough for them to fit (like a bread pan)
and lightly drizzle with olive oil: (Vegetable or Canola oil is fine too)
Grill asapragus over medium heat directly on the grill rack for approx. 3 minutes per side.
Remove from heat. Season as desired. (I sprinkle a little garlic parmesan seasoning on mine):