Stabilize your grill at 425°F or use the residual heat.
Add the bacon to a grill-safe pan (large enough to hold the bunch of asparagus). Place the pan with the bacon in it on the grill and render the bacon for roughly 10 minutes. Look for even browning but make sure not to over crisp or burn the bacon pieces.
Now that the bacon is rendered, move the crisped pieces to one side, drain the rendered fat to the other and add the asparagus and garlic to the oil. Roll everything around to ensure it is fully and evenly covered with the bacon grease. Scatter asparagus so it all lies evenly in the pan.
Top evenly with shredded parmesan, salt, and pepper then cover the tray with a lid. Close the dome and steam roast for 7 minutes. This will allow the garlic to roast, the asparagus to soften and the cheese to melt.
Open the lid and immediately transfer to the presentation plate. Enjoy!