Preheat oven to 425°F, prepare the baking sheet pan, line it with parchment paper or non-stick foil for easy cleaning.
While waiting for the oven ready, put all marinade ingredients (parsley, freshly squeezed lemon juice, onion, salt, black pepper, honey, garlic and oil) on the food processor, marinate the shrimp for 10 minutes.
Wash the Asparagus, trim the hard part, pat dry then arrange it on the sheet pan, sprinkle salt, black pepper and oil.
Bake it for 10 minutes then flip it once, bake it for another 10 minutes or until the Asparagus is soft and the shrimp turn pink.
Serve it with rice, quinoa, baked potato or sweet potato.