Preheat your oven to 400°F (200°C) and line a large rimmed baking sheet with parchment paper for easy cleanup.
In a small mixing bowl, whisk together the extra virgin olive oil, minced garlic, dried oregano, dried thyme, sea salt, and black pepper until well combined.
Pat the tilapia fillets dry with a paper towel to ensure a better texture, then place them on one side of the prepared baking sheet.
Trim the woody ends off the asparagus spears and place them on the other side of the baking sheet.
Drizzle the garlic and herb oil mixture over both the fish and the asparagus, using a pastry brush or your clean hands to coat everything evenly.
Place the baking sheet in the oven and bake for 12 to 15 minutes, or until the tilapia is opaque and flakes easily with a fork.
While the fish bakes, gently reheat your pre-cooked quinoa in a small saucepan or microwave until warm.
Plate the garlic-herb tilapia alongside the roasted asparagus and the warm quinoa, serving immediately while the fish is tender.