Half-fill steamer with water. Snap/discard woody asparagus ends; steam 5 minutes until crisp/tender. Transfer to plate; add a few lemon squirts, S&P. Pour out water, wipe pan dry. Toss carrots with oil; sauté 5 minutes to brown; transfer to food processor with garlic, lemon, Ricotta, sour cream, milk, and Parmesan cheeses. Process to combine. Arrange asparagus and drape sauce over middle to serve.