Combine 2 teaspoons olive oil and next 4 ingredients in a small bowl; stir well with a whisk, and set aside.
Drizzle remaining 1 teaspoon olive oil over asparagus. Place asparagus on grill rack coated with cooking spray; grill 6 minutes or until crisp-tender. Place asparagus on a serving platter, and sprinkle evenly with salt and pepper. Drizzle lemon-parsley mixture over asparagus.