Rinse the quinoa thoroughly in a fine-mesh strainer and set aside.
In a large pot or deep skillet, heat the avocado oil over medium heat.
Add the minced ginger and garlic, sautéing for 1 minute until fragrant.
Add the dry quinoa to the pot and toast for 2 minutes, stirring frequently.
Pour in the vegetable broth and tamari, then add the red pepper flakes, sea salt, and black pepper.
Bring the liquid to a boil, then reduce heat to low, cover, and simmer for 10 minutes.
While the quinoa simmers, trim the woody ends off the asparagus and cut into 2-inch pieces.
After 10 minutes, quickly uncover the pot and layer the shrimp, asparagus, and shelled edamame on top of the quinoa.
Replace the lid immediately and continue to cook on low for another 5 to 7 minutes, or until the shrimp are pink and opaque and the liquid is fully absorbed.
Remove from heat and let the pot sit, covered, for 2 minutes to finish steaming.
Drizzle with sesame oil and fluff with a fork to combine the ingredients.
Garnish with sliced green onions and serve immediately.