Combine the water and quinoa in a small pot. Bring to a simmer, and let simmer for 15-20 minutes. Get to work on the beef and vegetables while the quinoa cooks.

Slice the carrots in pieces ⅛ of a inch thick and then chop the asparagus into bite sized pieces.

Heat a skillet over medium heat. Add 1 teaspoon of the sesame oil and 1 tablespoon soy sauce. Add the ground beef, and stir to evenly season. Use a wooden spoon to break the beef up into small pieces. Cook for 4-5 minutes, until almost all of the beef has browned.

Place the carrots on top of the beef. Cover the skillet, reduce the heat to low, and let simmer for 5 minutes. Then drizzle the remaining sesame oil and soy sauce over. Add the peas and asparagus. Stir, increase the heat to medium low, then cover the skillet again and cook for another 5 minutes.

Fluff the quinoa with a fork, and add it to the beef and vegetable mixture. Stir everything together and then scoop onto plates.