In a small or medium sized pot put 1 cup quinoa and 2 cups water. Bring this to a boil and then uncover simmer for about 10 minutes (or until the water is gone), stirring occasionally.
Mince your garlic, and add to pan. Then cut your asparagus to your favorite length and add that to the same pan. Then clean off your lemons and slice them up. Squeeze them out over your asparagus, and then throw the entire thing into the pan. Add your olive oil and dill to the pan and adjust to a medium-low heat, cover and cook.
Cook for about 10 minutes if you like crunchy asparagus, or if you are like me and want is soft and tender, cook for 20.
Remove your asparagus from the pan but leave the lemons, and as much garlic and olive oil as you can. Then add your tilapia. Increase you heat just a little bit and cook on each side for about 5-7 minutes. Your may take longer, we have super skinny and small fillets, but if yours are thicker it may take more like 10-12. I like to add 1 cup of my carrots right after I flip the first side because I like my carrots sweet and crunchy for this dish. (So cook one side 5-7 minutes, flip, add carrots, cook entire things 5-7 minutes)
Turn the heat off, and take your asparagus, and the rest of your carrots and throw them all into the hot pan with the lid on and let sit for about 5 minutes, then serve.