I love asparagus, eat it at least once a week, have tried at least 20 different recipes for it, and I think the tastiest and easiest way to do it is to roast it:
Preheat oven to 400F
Snap off the woody ends (just bend until it breaks at its natural point) of 1 bunch asparagus.
Peel stalks if you like.
Lay out asparagus in a single layer on a shallow foil-covered baking pan.
Drizzle 2 tbsp or so olive oil over asparagus (flavored olive oils are great here, try lemon-basil or red-pepper)
Salt and pepper asparagus to taste (I use about 1 tsp salt, 1/2 tsp pepper)
Using your fingers, roll asparagus around on the pan until all spears are evenly coated with oil and salt/pepper
Roast for about 15 minutes at 400, until asparagus is fragrant and has a golden-brown crust.
Every five minutes, shake the pan or use a fork to roll the asparagus around. Make sure it stays in a single layer!
Depending on the size of your bunch of asparagus, this is about 4 servings of 8 spears each (but we've been known to eat the whole thing between the two of us
). Per 8-spear serving, it's 3.2 g after fiber.