Rinse quinoa until water runs clear. Transfer to a saucepan and add broth or water. Bring to a boil, then reduce heat and cover. Simmer for 15-17 minutes, then remove from heat and let stand 5 minutes.

While the quinoa is cooking, trim asparagus and cut into 1-inch pieces. Add the olive oil to a large saute pan and heat to medium-high.

Add the vegetables and cook, stirring frequently, until crisp-tender but not mushy.

Fluff the quinoa with a fork and transfer to a large bowl. Add the vegetables, goat cheese, and dill, and mix well.

Halve lemon and add juice to taste, reserving the other half for serving. Add salt and pepper to taste. Serve hot or cold.