Preheat oven to 400°F and line a baking sheet with parchment paper or foil for easy cleanup.
Wash and trim the woody ends (about 1–2 inches from the bottom).
Bundle 2–3 asparagus spears together and wrap with one slice of bacon, slightly overlapping as you go. Place seam-side down on the baking sheet.
Season with salt and pepper.
Bake for 20–25 minutes, or until the bacon is crispy and the asparagus is tender.
Flip halfway through for even crispiness if needed.
Remove from oven and let cool slightly. Finish with a squeeze of fresh lemon juice if desired.