In a small bowl, mix together the dressing ingredients. Set aside.
In a medium saucepan, bring the water, quinoa and salt to a boil. Boil for around 5 minutes. Turn heat to low and allow to simmer for around 15 minutes or until water is absorbed. Remove from heat and fluff with a fork.
Meanwhile, heat the oil in a large skillet over medium heat. Add in the asparagus and lemon juice. Cook until tender, around 5 minutes. Mix in the peas and cook for an additional 2 minutes. Remove from heat.
In a large bowl, mix together the quinoa, asparagus and avocado. Pour dressing on top and mix until fully coated. Season with salt and pepper.