01 - Combine quinoa, water, and salt in a medium saucepan. Bring to a boil, reduce heat, cover, and simmer for 15 minutes or until the water is absorbed. Remove from heat and let stand, covered, for 5 minutes. Fluff with a fork and cool to room temperature.
02 - Preheat a grill or grill pan over medium-high heat. Lightly brush fig halves with a little olive oil. Grill figs, cut side down, for 2–3 minutes until grill marks appear and figs are softened. Remove and let cool slightly.
03 - In a small bowl or jar, whisk together olive oil, balsamic vinegar, honey or maple syrup, Dijon mustard, salt, and pepper until emulsified.
04 - In a large salad bowl, toss cooled quinoa with arugula, red onion, mint, and parsley. Drizzle with dressing and toss gently to coat.
05 - Arrange grilled figs over the salad. Sprinkle with goat cheese and toasted nuts. Serve immediately, or chill for up to 2 hours before serving for a more refreshing salad.