Cook the spaghetti noodles according to package directions. I always like a good al dente boiling.
While you're waiting for the noodles to cook, heat the olive oil in a large skillet under medium high heat. Add garlic and stir until fragrant, about a minute or so. Add the asparagus and cook until it softened, about 3-5 minutes. Add in the shrimp and make sure you spread them out pretty good for even cooking. Cook until the shrimp are a nice pink, about 5-6 minutes (make sure you flip them once, in between).
Drain the pasta, reserving about 1 cup of liquid. Add in pasta to asparagus and shrimp mixture and pasta liquid, if needed. Season with salt and pepper to taste and serve right away!