Preheat oven to 425°.
Combine asparagus, 2 teaspoons olive oil, salt, and garlic in a large bowl, tossing well to coat. Arrange asparagus mixture in a single layer on a baking sheet. Bake at 425° for 12 minutes or until crisp-tender.
Combine remaining 2 teaspoons oil, rind, juice, mustard, and pepper in a small bowl, stirring with a whisk. Arrange asparagus on a platter; drizzle juice mixture over asparagus. Sprinkle with parsley.
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