Drain the canned asparagus and rinse under cold water to remove excess sodium. Pat dry with a kitchen towel.
Heat olive oil in a skillet over medium heat. Add minced garlic and sauté for about 1 minute until fragrant.
Add the asparagus spears to the skillet. Season with salt and pepper. Sauté for 5-7 minutes, until the asparagus is heated through and slightly browned.
Sprinkle grated Parmesan over the asparagus in the last minute of cooking, allowing it to melt slightly.
Serve hot, garnished with lemon wedges on the side.