Place the baking sheet on a middle rack of the oven and bake on broil for about 5 minutes. I like them to have a bit of a crunch, but feel free to cook a bit longer. Once done, they can be served warm or cold.
To prevent asparagus from getting mushy, take the asparagus out a minute or two before you think it is done. Account for the asparagus cooking a little more as it rests.