Add 1 inch of water to a large pot that fits a steamer basket. Set over high heat and bring to a boil.
While water is heating, trim ends from asparagus and arrange in a steamer basket. If needed, cut spears in half to fit into basket.
Once water is boiling, set the steamer basket in the pot. Cover, reduce heat to medium-low, and steam for 5 minutes. Asparagus is done when it is crisp-tender and vibrant in color.
Season to taste with salt and pepper, and add a squeeze of lemon or drizzle on olive oil.