You can do this with either the thin or the thick asparagus, though I definitely prefer the thick.
To prep: take a hold of one asparagus spear and while holding at each end, break until it snaps. Line it up with the other asparagus and cut them all to the same size. Discard the smaller end, this is too woody to be enjoyable.
Coat a grill pan or any sort of somewhat large pan with non-stick spray and consider giving the asparagus a spray of olive oil too. Put on a medium heat.

***Liberally*** salt the asparagus. Add lemon pepper, garlic powder, lemon juice and red pepper flakes (optional) and cover the pan with a lid. Turn the asparagus occasionally. Total cook time should be about 15 minutes.

I find that because the thickness of the spears varies, it's important to sample the bottom of the thickest spear to make sure it's cooked all the way through.

In the final 5 minutes, uncover the asparagus and pour on a liberal helping of balsamic vinegar (4 tbsp?) and continue to roll the spears around the pan.

Serve hot or room temperature.

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