Place the quinoa in a fine-mesh sieve and rinse well. Transfer to a small saucepan with 1 1/2 cups water and 1/4 teaspoon salt. Bring to a boil over medium-high heat, then reduce to a simmer and cover. Cook until the liquid is absorbed and the quinoa is cooked through, about 15 minutes. Remove from the heat and let stand, covered, for 5 minutes. Fluff with a fork and set aside to cool completely.
In a medium bowl, stir to combine the yogurt, honey, vanilla extract and lemon zest. To make filling the glasses easier and cleaner, transfer the yogurt to a large resealable plastic bag or piping bag and snip off a corner.
Place two 12-ounce glasses on a work surface and start to layer into each glass about 2 tablespoons blueberries, 2 tablespoons diced kiwi, 1/2 cup yogurt, a spoonful of quinoa and a sprinkle of almonds. Repeat the layering a second time, then top with a spoonful of quinoa, a few almonds, and scatter additional fruit over the top. Serve immediately or cover and refrigerate overnight.