In a pot, bring 2 cups of water to a boil. Add quinoa, reduce heat to low, cover, and simmer for 15 minutes until water is absorbed. Fluff with a fork and set aside.

In a pan, bring a small amount of water to a boil. Add asparagus and cook for 3-4 minutes until bright green and tender-crisp. Drain and rinse under cold water to stop cooking.

In a mixing bowl, whisk together olive oil, lemon juice, minced garlic, honey, salt, and pepper until well combined.

In a large bowl, combine cooked quinoa, asparagus, and dressing. Toss gently to combine.

Garnish with chopped parsley and lemon zest before serving.