Cook the pasta according to package instructions or prepare zucchini noodles for a keto option. Drain and set aside.
Preheat a grill pan or outdoor grill to medium-high heat. Toss shrimp with 1 tbsp olive oil, salt, and pepper. Grill for 2–3 minutes per side until pink and slightly charred. Set aside.
In a large skillet, heat 2 tbsp olive oil. Add garlic and red pepper flakes, sauté until fragrant.
Add asparagus and cook for 3–4 minutes until tender-crisp.
Add cooked pasta (or zoodles), grilled shrimp, lemon zest, and juice. Toss everything together.
Sprinkle with parmesan and garnish with parsley before serving.