Preheat the oven to 400 degrees F. Line a baking sheet with parchment paper. Arrange chicken on the sheet and season with salt; set aside.
In a small bowl, combine the lemon juice, honey, soy sauce, garlic, half of the parsley (optional), salt and pepper. Pour three quarters of the honey lemon mixture over the chicken. Arrange the lemon slices over the top.
Cut baby potatoes in quarters and spread on the opposite side from the chicken on the sheet pan. Leaving the middle of the sheet pan empty, to add your asparagus later.
Cover with foil and bake for 25 minutes.
Meanwhile, snap off the woody ends of the asparagus (if you sharply bend the asparagus near the base, it will snap in the right place). Discard the ends.
Remove sheet pan from the oven and uncover foil. Arrange asparagus, in the center of the sheet pan. Pour the remaining honey soy lemon mixture over the vegetables and season them with salt and pepper.
Return to the oven to bake for another 20 minutes until the chicken is golden and the asparagus is cooked. Garnish with the remaining parsley if you want to get fancy.