Cook the two cups of quinoa by combining it with four cups of water. Bring to a boil and reduce temperature. Simmer for 15-20 minutes, until it is tender. When it is finished cooking, spread it out on a cookie sheet to cool.
Spread the asparagus out on a small cookie sheet. Drizzle with olive oil and sprinkle with salt and pepper. Roast at 425 degrees for 10-15 minutes.
Combine chopped red pepper, onion, cucumber, parsley and drained garbanzo beans in a large bowl.
Whisk the pesto, vinegar and a drizzle of olive oil together until runny. Season with salt and pepper to taste.
Add quinoa to the chopped vegetables. Gently stir to combine. Add the crumbled feta and dressing and fold in. Top with toasted almonds and serve. Can be made up to 24 hours in advance.