Heat olive oil over medium heat. Sauté garlic and onion 1 minute. Add sun-dried tomatoes and sauté 1 minute. Add vegetable stock, lemon juice, black pepper and quinoa . Cover and simmer 10 minutes. Add asparagus, cover again, continue cooking quinoa and asparagus for 5 minutes. Let sit 5 minutes.
Meanwhile, brush both sides of tofu with pesto; grill or broil, 2 minutes on each side. Remove from heat and cut into bite-sized chunks. Set aside.
Add lemon zest to quinoa and fluff with a fork. Stir together remaining pesto and lemon juice. Serve tofu chunks on top of quinoa, drizzled with pesto mixture and topped with chopped cashews.
Substitute broccoli florets or halved green beans for asparagus, if you like.