Juice and zest two lemons, removing seeds. Whisk in a small bowl with the butter, olive oil, garlic, salt and pepper.
Place the shrimp in a large bowl. Pour in 2/3 of the lemon garlic butter sauce. Stir gently to coat.
Trim about one inch from the woody ends of the asparagus and discard. Cut the remaining asparagus spears into 2-inch pieces. Place in another large bowl. Add the remaining sauce and toss gently.
Heat the grill to medium-high. Add two large sheets of Reynolds Wrap® Non-Stick Aluminum foil on top of the grill grates.
Pour the shrimp and asparagus onto the foil. Spread into a single layer. Save the asparagus bowl.
Grill, turning occasionally for 6–8 minutes or until the shrimp are pink and the asparagus is slightly tender.
Place in the asparagus bowl. Toss to combine. Serve with cooked rice.