Snap off ends of asparagus spears and cut into 2-inch pieces.
Steam asparagus or broccoli until still bright green and crisp-tender, about 5 minutes.
Toast almonds on a baking sheet in oven or toaster until lightly browned.
Make Citrus Dressing: whisk together olive oil, orange juice, lemon juice, soy sauce, honey, and salt and pepper.
Grate carrots and lemon zest.
Place quinoa, asparagus or broccoli, toasted almonds, zest of 1 lemon, 1 cup of shredded carrots in a large serving bowl. Pour dressing over the pilaf and gently toss.
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