Preheat the oven to 350 degrees . On a sheet of foil, drizzle the garlic with 2 tsp. EVOO; wrap tightly. Roast until very soft, about 1 hour. Let cool. Squeeze the cloves into a food processor. Add the yogurt and 1/4 cup lemon juice; puree. Season the sauce with salt and pepper.
In a small bowl, whisk the remaining 2 tbsp. lemon juice and the honey. Gradually whisk in the remaining 6 tbsp. EVOO; season the dressing.
Bring a pot of salted water to a boil. Add the asparagus, beans, peas and spinach; press to submerge. Cook until the asparagus and beans are crisp-tender, 90 seconds; drain.
Divide the quinoa among 4 bowls. Top with the yogurt sauce, cooked vegetables, lettuce, cucumber, kale and avocado. Pour dressing on top.