Snap off ends, remove skins, wash and pat asparagus dry.
In a bowl, toss asparagus with 1 tsp olive oil and 1/4 tsp salt. Shake them good and set aside.
Arrange bacon strips onto your roasting rack (prefer for even heat distribution without turning).
Turn on your oven. Place bacon strips rack into oven before it preheating process (to 400 F), let pre- roast for about 4 minutes. This will help to remove some extra moisture in bacon.
After bacon just turn a little crisp but still flexible enough to wrap, get them out and let cool down.
If you're using a lined pan to pre-roast bacon earlier, turn the strips upside down.
Glaze these strips with some honey or maple syrup.
Wrap each strip around 4-8 stalks of asparagus (depend on size) and place them back onto roasting pan/rack.
Roast for 10-15 minutes until all bacon is crispy.
When done, remove from oven and sprinkle on some ground pepper.
Season with lemon juice before serving if desired.