Preheat oven to 425°F and place a sheet pan inside for 10 minutes to get it hot before roasting.

Toss asparagus, red bell pepper slices, and cherry tomatoes with olive oil, salt, and pepper in a bowl.

Spread the vegetables in a single layer on the preheated sheet pan and roast for 12 minutes.

Pat shrimp dry thoroughly with paper towels and toss with half the minced garlic.

Remove the sheet pan from the oven, add shrimp in a single layer on top of vegetables, then return to oven and roast for 3 to 4 minutes until shrimp turn opaque.

While shrimp cook, melt butter in a small saucepan over low heat. Remove from heat and stir in remaining garlic, lemon juice, and lemon zest to keep sauce smooth.

Drizzle lemon-butter sauce over roasted shrimp and vegetables. Toss gently to coat evenly.

Garnish with fresh parsley before serving.