Preheat the oven to 400 degrees F (200 degrees C). Line a rimmed baking sheet with aluminum foil.
Combine olive oil, garlic, and parsley in a saute pan. Saute over medium heat for 3 minutes.
Lay 4 asparagus spears in the center of each bacon slice. Drizzle garlic oil on top. Wrap bacon around asparagus and secure with a toothpick. Transfer asparagus bundles to the baking sheet and sprinkle with salt and pepper.
Bake in the preheated oven until bacon is crisp, 20 to 25 minutes.