This is the absolute best way (IMHO) to cook asparagus ..... wash & cut of the tough ends. Next, get a pot (dutch oven is perfect) and add a few tablespoons of olive oil and a couple of tablespoons of water to the pot. I let it get fairly hot and then add the asparagus. Cover. Let is simmer until the asparagus is tender - I test it several times along the way. By then most of the water will have evaporated, leaving a nice olive oil based sauce. I add sea salt, some pepper and lemon and it is fantastic.
I find with asparagus it needs to be finished or it is too bland. This recipe originally came from a book on cooking vegetables the French way by Patricia Wells and was re-interpreted by Lucy Waverman. I've cooked it so many times I don't have the actual recipe any longer. The French really do have a knack for making vegetables special and lovely.