Preheat oven to 425 degrees. Toss carrots and beets, with oil, salt and pepper. In a separate bowl toss asparagus and zucchini in oil and season well with salt and pepper. Line a baking pan with foil and add the beets and carrots. Roast for 25 minutes before adding the asparagus and zucchini.
Meanwhile, sauté the red onion in a little olive oil, 2-3 minutes. Add the lentils then add in the vegetable broth. Bring to a simmer and cook here for 25-30 minutes or until tender.
While lentils cook, cook the quinoa in 2 cups of water for 18-20 minutes, simmering. Fluff with a fork then set aside to cool.
Once the 25 minutes is up on the carrots and beets, add in the asparagus and zucchini. Remove any carrots that might be done. Roast the remaining veggies for 15 minutes.
For the vinaigrette, combine all ingredients in a blender and blend until smooth.
On a large serving platter, layer quinoa, lentils, veggies then top with goat cheese and drizzle vinaigrette over the top.