Fill a large covered pot with 1 inch of water and bring to a boil. Place steamer basket with asparagus inside the pot. Cover and steam asparagus for 3 to 5 minutes, until thickest part is tender. Rinse with cold water to stop the cooking process. Set aside.

Heat a large skillet large enough to hold the asparagus over medium high heat. Add the olive oil and chicken broth and heat. Add the garlic and lemon peel and cook 30 seconds, stirring constantly. Add asparagus and drizzle with lemon juice. Saut until thoroughly heated, turning them so they get coated with the sauce, about 3 minutes. Season with pepper and parsley and toss to distribute. Transfer asparagus to a serving platter. Drizzle with any remaining sauce and parsley.