In a medium saucepan, bring chicken broth to a boil. Add quinoa, cover and reduce heat to low. Cook for 15 minutes or until quinoa is tender. Remove from heat and fluff with a fork.

While quinoa cooks, heat olive oil over medium heat in a large skillet. Add garlic, peppers, zucchini and asparagus. Season with salt and pepper. Cook until vegetables are tender, about 7 to 10 minutes.

Stir together quinoa and vegetables in a bowl. Add lemon juice, parsley, and more salt and pepper, if desired. Serve with feta cheese on top.