In a large bowl, toss the trimmed asparagus with olive oil, minced garlic, salt, and pepper until evenly coated.
Spread the asparagus in a single layer on a baking sheet.
Bake for 10-12 minutes, or until the asparagus is tender-crisp.
Remove the baking sheet from the oven. Sprinkle the shredded cheddar cheese and grated Parmesan cheese evenly over the asparagus.
Return the baking sheet to the oven and bake for another 2-3 minutes, or until the cheese is melted and bubbly.
Serve immediately.
Notes
For an extra layer of flavor, you can add a pinch of red pepper flakes along with the salt and pepper. This dish pairs well with grilled meats or fish.