Preheat your grill or grill pan over medium-high heat.
In a mixing bowl, combine the shrimp with olive oil, minced garlic, smoked paprika, cayenne pepper (if using), salt, and pepper. Toss until well coated.
Place the asparagus in a separate bowl and drizzle with olive oil, season with salt and pepper. Toss to coat.
Thread the shrimp onto skewers for easier grilling.
Once the grill is hot, add the shrimp skewers and asparagus to the grill. Grill the shrimp for about 2-3 minutes on each side until they turn pink and are cooked through. Grill the asparagus for about 4-5 minutes, turning occasionally until tender and slightly charred.
During the last minute of grilling, add the halved cherry tomatoes directly onto the grill to char slightly.
Remove everything from the grill and let it cool slightly.
In serving bowls, layer the cooked quinoa or rice as a base. Top with grilled shrimp, asparagus, cherry tomatoes, and avocado slices.
Garnish with fresh parsley and serve with lemon wedges on the side for squeezing over the top.
Notes
Feel free to adjust the spice level by adding more or less cayenne pepper.