Heat oil in large sauté pan or skillet over medium-high heat. Add garlic and shallot to the oil and season with salt and pepper. Cook garlic and shallot until shallot begins to sweat and becomes slightly tender, about 3-5 minutes.
Add the asparagus and toss to coat (I use tongs for this as the asparagus can get a little tricky to toss). Reduce the heat to medium, cover and cook for 8-10 minutes, or until the asparagus is tender, but still slightly firm.