Preheat the oven to 400°F. Lightly grease an 8x8 (or an 11x7) baking dish with olive oil and set aside. Set an additional small baking sheet nearby.
In a large saucepan, heat 1 ½ teaspoons of the olive oil. Add the diced shallot and saute until beginning to turn translucent, about 4 minutes. Add the garlic and saute until fragrant, about 30 seconds.
Add the quinoa to the saucepan and stir to coat in the oil. Add the vegetable stock and stir. Bring the quinoa to a boil. Once boiling, lower the heat to a simmer. Simmer until almost all of the liquid is absorbed, about 13-15 minutes.
Take the quinoa off the heat and stir in the white beans, non-dairy milk, pesto, lemon juice, salt and pepper to taste, and the chili flakes (if using). Once combined, transfer the quinoa mixture to the prepared baking dish. Bake in the oven for 20 minutes, or until slightly browned on the edges and slightly firm.
While the pesto quinoa is baking, cut the asparagus into 2-inch lengths. Place the chopped asparagus on the separate small baking sheet. Toss the asparagus with the remaining olive oil, salt, and pepper. Bake the asparagus alongside the pesto quinoa bake for about 15 minutes, or until just-tender.
While asparagus is baking, thinly slice the radishes and chop some herbs for garnish.
Serve the pesto quinoa and white beans bake with the roasted asparagus on top, sliced radishes, and chopped herbs. Enjoy immediately!