Asparagus should be tender yet crisp when it is cooked. It can be grilled, roasted, pan fried, steamed or boiled. I prefer boiling it. To prepare the asparagus for cooking, snap the ends off first. I do not cut the ends with a knife but I snap the end off with my hands. Asparagus tends to have a certain spot on it that snaps off easily. Once all of the ends have been snapped off each spear, drop them into a pot of boiling water and cook for about 3 minutes, a little longer if the spears are thick. I always set a timer to keep track of the boiling time. You can stick a fork into one of the spears to see if it is tender.
Once the asparagus has boiled enough, drain and serve immediately. I like to serve asparagus with hollandaise sauce but you can eat it plain or with some butter.