In a saucepan, bring 2 cups of water and the rinsed quinoa to a boil. Reduce heat, cover, and simmer for 15 minutes or until water is absorbed. Fluff with a fork and let cool.

While the quinoa cooks, heat a drizzle of olive oil in a nonstick skillet over medium heat. Add tofu cubes and cook until golden and crisp on all sides, about 8–10 minutes. Season with a pinch of salt and set aside.

Bring a small pot of water to a boil. Add asparagus and cook for 2–3 minutes until just tender and bright green. Drain and rinse with cold water to stop cooking.

In a large bowl, combine cooled quinoa, tofu, asparagus, arugula, and chopped mint.

In a small bowl, whisk together olive oil, lemon juice and zest, vinegar, maple syrup, salt, and pepper.

Pour dressing over the salad and toss gently to combine. Taste and adjust seasoning as needed. Serve chilled or at room temperature.