01 - Preheat a grill or grill pan to medium-high heat.
02 - In a bowl, toss asparagus, mushrooms, and red onion with olive oil, salt, and pepper until evenly coated.
03 - Place vegetables on the preheated grill and cook for 8-10 minutes, turning occasionally, until tender and slightly charred. Remove from heat and set aside.
04 - While vegetables grill, whisk together tahini, lemon juice, garlic, water, maple syrup, and salt in a small bowl until smooth and pourable. Add additional water if needed to reach desired consistency.
05 - Divide cooked quinoa or brown rice evenly among 4 serving bowls.
06 - Arrange grilled asparagus, mushrooms, and red onion on top of the grain base in each bowl.
07 - Drizzle generously with lemon tahini sauce, ensuring each portion is well coated.
08 - Sprinkle with toasted sesame seeds and fresh herbs. Serve immediately with lemon wedges on the side.