Heat 10 in. (25 cm) cast-iron skillet on grill preheated to medium-high. Add oil. Sauté asparagus and tomatoes 3 to 5 min., until they begin to char.
Stir in shrimp, garlic, salt and hot pepper flakes. Cook 3 to 5 min., until shrimp turns pink and opaque. Just before serving, mix in lemon juice, 2 tbsp (30 mL) water and sprinkle with parsley.
Alternatively, cook on the stovetop.
Serve with grilled bread.