Preheat your oven to 400°F (200°C).

In a large mixing bowl, combine the fresh asparagus, sliced zucchini, and yellow squash.

In a small bowl, whisk together olive oil, minced garlic, salt, black pepper, and red pepper flakes if desired.

Drizzle the olive oil mixture over the vegetables and toss them thoroughly.

Spread the seasoned vegetables out in a single layer on a baking sheet.

Place the baking sheet in the oven and roast for about 15-20 minutes, checking for doneness at 15 minutes.

Remove the baking sheet from the oven and drizzle the vegetables with fresh lemon juice and sprinkle lemon zest on top.

Gently toss the vegetables with the lemon juice and zest.

Transfer the roasted vegetables to a serving dish and top with grated Parmesan cheese.

Garnish with chopped fresh parsley before serving.