01 - Combine quinoa, water, and 1/2 teaspoon salt in a medium saucepan. Bring to a boil, then reduce heat, cover, and simmer for 12-15 minutes until water is absorbed. Remove from heat and let stand, covered, for 5 minutes. Fluff with a fork and allow to cool.
02 - Preheat a grill pan or outdoor grill over high heat. Lightly brush corn ears with olive oil. Grill corn, turning occasionally, until charred and cooked through, about 8-10 minutes. Let cool slightly, then cut kernels from cobs.
03 - In a small bowl, whisk together olive oil, lime juice, honey or agave, minced garlic, cumin, salt, and pepper until emulsified.
04 - In a large salad bowl, combine cooled quinoa, charred corn kernels, diced avocado, cherry tomatoes, red onion, cucumber, cilantro, and parsley.
05 - Pour dressing over salad and gently toss to combine. Taste and adjust seasoning if needed. Serve immediately or chill for 30 minutes for flavors to meld.