Heat grill. Brush asparagus with olive oil and season with salt and pepper, to taste. Grill on both sides until just cooked through, about 2 minutes on each side. Remove from grill and cut in half.
Bring 8 cups of salted water to a boil. Add quinoa and cook until soft. Drain and rinse with cold water and drain again. Place the quinoa in a medium bowl and add red wine vinegar, olive oil, parsley and 1/4 cup of olive vinaigrette. Stir to combine. Place on plate and top with goat cheese, asparagus, whole nicoise olives, sliced tomato and parsley sprigs.
Black Olive Vinaigrette: Combine vinegar, mustard, chile powder, olives and olive oil in a blender and blend until smooth.