Preheat broiler to HIGH; arrange rack about 4 inches from heating element.
Arrange asparagus on a foil-lined baking sheet. Coat asparagus with cooking spray.
Broil asparagus 8 minutes or until almost tender, stirring once.
Combine panko, Parmesan cheese, lemon rind, canola oil, pepper, and salt in a bowl. Sprinkle panko mixture over asparagus. Broil 2 minutes; drizzle with lemon juice and melted butter.
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