Preheat oven to 400 degrees F. Drizzle olive oil on a baking sheet. Add asparagus, 1 minced garlic clove, 1/4 teaspoon salt.
Toss until evenly coated then line asparagus in a single layer. Roast for 6 minutes depending on thickness. Then, remove pan from oven and push asparagus to one side of the pan (keep in a single layer). Add shrimp and season with 1/4 teaspoon paprika, 1/8 teaspoon red pepper flakes, 1/2 teaspoon salt, freshly grounded pepper, and fresh parsley.
Drizzle with olive oil. Toss until evenly coated. Top with lemon slices. Squeeze the other half of lemon all around. Roast for 10 minutes at 400 degrees F. Remove from oven and serve immediately with white rice.