In a bowl, mix olive oil and finely chopped garlic. Add the asparagus and coat it with the mixture.
Place the asparagus on a baking sheet lined with parchment paper. Season with salt and pepper. Cook for about 10 minutes, turning halfway through, until tender but still crisp.
Sprinkle grated cheese over the asparagus, then add panko breadcrumbs.
Turn the oven to broil and broil the cheese until golden brown.