Make sure your grill grates are clean and preheat a gas grill over medium heat.
- Snap the woody ends off the asparagus and discard or save them for soup.
- Place the trimmed asparagus in a shallow container or on a platter. Drizzle them with the olive oil and toss them to coat. Then season them with salt and pepper and toss again to coat.
- Arrange the asparagus horizontally across the grill grates so the spears don’t fall in. Or, you can use a grill pan.
- Cook asparagus for 5 minutes.
- Use tongs to roll the stalks to the other side and cook them for 2 more minutes.
- Remove from the grill and arrange them on a platter.
- Drizzle the balsamic glaze over them, then crumble the goat cheese on top
Serve warm or at room temperature.