Preheat grill to medium-high heat
Brush chicken with olive oil
Season with salt, pepper, and optional garlic
Place chicken on the grill
Grill for 6–7 minutes per side
Toss asparagus with olive oil and season lightly
Place asparagus on the grill
Cook for 3–5 minutes, turning occasionally
Remove chicken once internal temperature reaches 165°F (74°C)
Squeeze fresh lemon juice over chicken and asparagus
Garnish with herbs before serving