Preheat your oven to 400°F (200°C) and line a large baking sheet with parchment paper for easy cleanup.
Rinse the dry quinoa under cold water and combine it with 0.5 cup water in a small saucepan; bring to a boil, then reduce heat, cover, and simmer for 12-15 minutes until the liquid is absorbed.
Place the salmon fillet and trimmed asparagus spears on the prepared baking sheet.
Drizzle the salmon and asparagus with olive oil, then season with minced garlic, half of the lemon zest, sea salt, and black pepper.
Bake in the center of the oven for 12-15 minutes, or until the salmon is opaque and flakes easily with a fork and the asparagus is tender-crisp.
In a small mixing bowl, whisk together the non-fat Greek yogurt, lemon juice, and finely chopped fresh dill to create a zesty cream sauce.
Fluff the cooked quinoa with a fork, stir in the remaining lemon zest, and serve it alongside the salmon and roasted asparagus, topped with a dollop of the dill sauce.