Preheat oven to 450°.
Combine the first 4 ingredients; stir in 1/2 teaspoon salt and 1/8 teaspoon pepper. Set aside.
Arrange asparagus in an even layer on a jelly-roll pan coated with cooking spray. Drizzle with oil, and sprinkle with remaining 1/2 teaspoon salt and remaining 1/8 teaspoon pepper. Toss well to coat. Bake at 450° for 10 minutes, stirring well after 5 minutes. Remove from oven (do not turn oven off). Drizzle with juice mixture; toss to coat. Bake at 450° for 5 minutes or until crisp-tender.