Add the quinoa to a medium pot and cover with 4 cups of water. Add a pinch of salt and bring the mixture to a simmer. Turn the heat to low and allow to cook for 15 minutes. Remove from the heat and set aside.
Preheat the oven to 400. Chop the zucchini and asparagus into bite-sized chunks and place on two separate baking sheet.s Drizzle with olive oil and salt and roast for 15-20 minutes or until the vegetables are tender.
Use a microplane to zest your lemon. Add your lemon zest, lemon juice, walnuts, parsley, mint, and a pinch of salt to your food processor or blender. Pulse to combine the ingredients, then with the machine running drizzle in the olive oil.
Toss the quinoa with the roasted veggies, pesto, and peas and serve. Leftovers can be stored in the fridge and enjoyed cold or rewarmed in the microwave for 2-3 minutes.