Generously spray a large non-stick skillet with cooking spray. Heat over medium heat. Cook the asparagus and garlic for 2 to 3 minutes, or until the asparagus is tender-crisp. If needed, add 1 to 2 tablespoons water to prevent burning. Remove from the heat. Cover to keep warm.
Whisk together milk and corn starch in a small saucepan. Bring to a boil over medium-high heat, stirring occasionally. Cook for 1 minute, or until thickened, stirring occasionally. Reduce heat to low.
Stir in cheese, lemon juice and cayenne. Cook for 1 to 2 mintues, or until the cheese is melted.
To serve, arrange asparagus on a platter. Pour cheese sauce over asparagus. Sprinkle with herbs.