Preheat the oven to 400 degrees F (200 degrees C). Line a baking sheet with aluminum foil.
Arrange asparagus in a single layer on the prepared baking sheet. Lightly spray asparagus with cooking spray. Sprinkle salt and pepper over asparagus and drizzle vinegar on top.
Bake in the preheated oven until tender, 10 to 12 minutes.
