Preheat the grill to medium-high heat. In a bowl, toss the shrimp with olive oil, smoked paprika, garlic powder, salt, and pepper until well coated.

Thread the shrimp onto skewers for easy grilling. Grill the shrimp for about 2-3 minutes on each side, or until they are pink and opaque. Remove from the grill and set aside.

In a separate bowl, toss the asparagus with a little olive oil, salt, and pepper. Grill the asparagus for about 5-7 minutes, turning occasionally, until tender and slightly charred.

While the shrimp and asparagus are grilling, prepare the creamy garlic sauce by mixing together Greek yogurt, mayonnaise, minced garlic, lemon juice, salt, and pepper in a small bowl. Adjust seasoning to taste.

To assemble the bowls, divide the cooked quinoa among four bowls. Top with grilled shrimp, asparagus, cherry tomatoes, and a drizzle of creamy garlic sauce. Garnish with fresh parsley.