Preheat oven to 400 degrees. Gather your ingredients so that you have everything close at hand on the counter or table. Cover a baking sheet with a piece of aluminum foil for easy clean-up later. I always spray the foil with baking spray so that the vegetables will come off without sticking.
Prepare the Asparagus
Rinse and trim the asparagus, cutting off the hard ends. You'll need approximately 24 spears, more or less, depending on the size of the asparagus.
Divide the asparagus spears into 8 groups. This will come to 2-4 spears in each serving.
Wrap each of the bundles with a piece of thick-cut bacon. Place each bundle of asparagus on the baking sheet, about 1-inch apart from each other. Repeat with the remaining bundles.
Start wrapping the bacon from the bottom and move upward, without overlapping too much so that the bacon cooks properly.
Using a pastry brush, smooth extra-virgin olive oil over each bundle. Sprinkle each with freshly ground black pepper.
Bake in preheated oven on a middle rack for 25-30 minutes, or until the bacon has cooked to the desired doneness.
The amount of baking time will depend a lot upon the thickness of the bacon, as well as how crisp you like it.
Prepare the Glaze
While the asparagus bundles bake, prepare the glaze mixture. In a small bowl, combine the honey and balsamic vinegar.
Heat the mixture in the microwave for 15-25 seconds so the honey is easier to mix. Whisk together well.
Once the bundles have baked, brush with the honey balsamic glaze. Place on a serving tray. Serve warm.