In a small bowl, mix together the olive oil, minced garlic, rosemary, thyme, parsley, lemon zest, salt, and pepper.
Place the chicken breasts in a large resealable plastic bag or a shallow dish. Pour the marinade over the chicken, ensuring it is well coated. Seal the bag or cover the dish, and let it marinate in the refrigerator for at least 30 minutes.
While the chicken marinates, prepare the asparagus. Place the trimmed asparagus on a baking sheet and drizzle with a little olive oil, sprinkling with salt and pepper. Toss to coat evenly.
Remove the chicken from the marinade and arrange it on the same baking sheet as the asparagus.
Place the baking sheet in the preheated oven. Bake for 20-25 minutes until the chicken is cooked through and the asparagus is tender-crisp.
Once done, remove the baking sheet from the oven and let the chicken rest for 5 minutes. Serve the chicken and asparagus warm, drizzled with any leftover juices from the baking sheet and with lemon wedges on the side.
Notes
For more flavor, marinate the chicken for up to 2 hours.