In a pot of salted boiling water, cook the quinoa for 13 minutes. Add the broccoli and continue cooking for 2 minutes. Drain and rinse in a fine-mesh strainer under cold running water. Drain thoroughly.
Preheat the grill, setting the burners to high. Oil the grate.
Grill the asparagus until tender-crisp. Cut into 1 1/2-inch (4 cm) pieces.
In a large bowl, combine the quinoa, broccoli, asparagus and the remaining ingredients. Season with salt and pepper and toss well. Serve warm or cold.
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