Thaw the shrimp by putting it in a colander under cold running water until thawed.
Trim and discard the end off the asparagus stalks. Cut the asparagus into 1-inch pieces. Put asparagus in a microwave-safe dish, add 1 tbsp of water, cover and microwave on High for 3 minutes.
Add olive oil and lemon juice to cooked quinoa and mix until combined.
Add cooked shrimp, asparagus, salt and pepper to quinoa and mix until combined. You can serve this dish hot or cold.