Rinse the quinoa under cold water. Place it in a saucepan with 2 cups of water and a pinch of salt. Bring to a boil, then reduce to a simmer and cook for 15 minutes until the water is absorbed. Fluff with a fork and set aside.

Preheat the oven to 400 degrees. Spread the asparagus on a baking sheet. Drizzle with 1 tablespoon olive oil and sprinkle with salt and pepper. Roast for 12 to 15 minutes until tender.

In a small bowl, mix the remaining 2 tablespoons olive oil with the minced garlic, lemon zest, half the lemon juice, salt, and pepper. Brush this mixture over both sides of the salmon fillets.

Heat a grill or grill pan to medium high. Place the salmon on the grill and cook for 4 to 5 minutes per side until it flakes easily and reaches an internal temperature of 145 degrees.

Fluff the quinoa again and divide it among four plates. Add the roasted asparagus and one salmon fillet to each plate. Drizzle the remaining lemon juice over the salmon and sprinkle with chopped parsley before serving.