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.

Combine vinegar, mustard, chile powder, olives and olive oil in a blender and blend until smooth.