Preheat the oven to 425 degrees F and line a baking sheet with parchment paper.
Place the asparagus on the sheet and sprinkle with olive oil. Salt and pepper generously. Roll the asparagus on the sheet to coat evenly.
Divide the asparagus in groups of 5.
Wrap each pack in the middle with a strip of bacon.
Bake for about 20 minutes.
In a small saucepan, combine balsamic vinegar and honey. Cook the mixture over medium-high heat for 5 to 10 minutes. Let cool slightly and pour over the cooked asparagus.