Combine the vinaigrette ingredients in bowl or dressing jar, whisk or shake well to combine. Set aside.
In medium saucepan add water, salt and quinoa. Bring to boil and continue to boil over medium heat for 5 minutes. Reduce heat to simmer and continue to cook until water is absorbed, about 15 minutes.
Remove saucepan from heat. Fluff quinoa with a fork.
Heat olive oil in large skillet over medium heat and add asparagus and lemon juice. Quickly sauté to soften asparagus. Add peas and heat through.
In large bowl, add quinoa, asparagus, peas and avocado. Toss with the vinaigrette. Add basil and salt and pepper to taste.
Serve warm, room temperature or chilled.