Preheat the oven to 200°C (400°F). Lightly grease a baking sheet with olive oil.
Place chicken breasts on the prepared sheet pan. Season both sides with salt and pepper.
In a bowl, whisk together lemon juice, honey, soy sauce, garlic, half the parsley, salt, and black pepper until well combined.
Pour three-quarters of the marinade over the chicken. Arrange lemon slices over the chicken breasts.
Cover the tray loosely with foil and bake for 20 minutes.
Remove foil and arrange trimmed asparagus around the chicken. Pour the remaining marinade over the asparagus and season them with salt and pepper.
Return tray to the oven and bake uncovered for 10–15 more minutes, or until the chicken is golden and cooked through and asparagus is tender.
Optionally broil for 2–3 minutes at the end for additional caramelization.
Garnish with remaining parsley before serving.