Cut hard part of stems off and discard. Cut asparagus into 3 sections. Place in a pot of boiling water. Boil 4 minutes until bright green, crisp and tender. Remove, drain and rinse with cold water. Set aside while preparing sauce.
Place butter in a deep skillet or heavy saucepan and melt over medium-high heat. Add flour and turn heat to medium. Whisk until smooth.
Add garlic, lemon juice and milk. Thin sauce with water until a thin batter consistency. Whisking constantly bring to slow boil then immediately add asparagus back to sauce turn off heat and toss to coat.
Add salt and pepper to taste if desired.
There are 69 calories in 1 serving of Lemon Butter Asparagus.