Bring 2 cups of water to boil in a saucepan on high. Reduce heat. Add quinoa. Simmer for 12 minutes on low. Cover and stand for 5 minutes. Fluff grains with a fork. Stir through herbs, chilli, lemon rind and juice.
Meanwhile, heat a chargrill on high. Spray vegetables with cooking oil. Cook in batches for 3-5 minutes each side, until tender.
Combine yogurt, mint, garlic and cumin. Season to taste.
Serve quinoa topped with vegetables and a dollop of prepared yogurt.