Preheat oven to 375 degrees. Toss asparagus in 1 tsp of olive oil and lemon pepper seasoning. Bake in oven about 12-15 minutes, until roasted but still has bright green color.
While this bakes, cook quinoa according to package instructions.
Let quinoa and asparagus cool.
Combine remaining ingredients for vinaigrette and once cooled completely, toss quinoa, asparagus and feta. When ready to serve, toss in arugula.