Bring 2 cups of water, the quinoa and salt to a boil (follow the quinoa box instructions). Reduce heat to medium-low, cover, and simmer until quinoa is tender, about 15 to 20 minutes. Remove from heat and set aside to cool.
Cut the asparagus in half. Heat the grill or oven, season your asparagus with olive oil and salt and cook until tender, but still crunchy, about 15 minutes.
Prepare your vinaigrette (olive oil, vinegar, garlic, salt and pepper), dice your veggies and toss together in a large bowl until well combined. Sprinkle with the crumbled feta cheese and olives.