Preheat your oven to 400°F.
Place the unpeeled garlic cloves on a piece of foil, drizzle with a tiny bit of olive oil, wrap, and roast in the oven for about 15 minutes until soft and aromatic.
Meanwhile, trim the asparagus and toss with a bit of olive oil, salt, and pepper. Spread on a baking sheet and roast in the oven for 10 minutes until tender.
Once the garlic is roasted, squeeze the softened garlic flesh into a small bowl and mix with chopped fresh parsley, thyme, and lemon zest.
Pat the steak dry and season generously with the herb and roasted garlic mixture, pressing it onto the surface of the meat.
Heat a cast iron skillet over medium-high heat and add 1 teaspoon olive oil. Once hot, add the steak and sear for about 3-4 minutes on each side for medium-rare, or until desired doneness is achieved.
Remove the steak from the pan and let it rest for a few minutes before slicing.
Plate the sliced steak alongside the roasted asparagus, and drizzle any remaining pan juices over the top. Enjoy immediately.