Combine sesame oil, sauces and mirin in a jug. Set aside.
Heat quinoa according to packet instructions.
Meanwhile, heat peanut oil in a wok or large frying pan over high heat. Add ginger and garlic. Stir-fry for 1 minute or until lightly browned. Transfer to a plate lined with paper towel.
Add broccolini to wok. Stir-fry for 2 minutes or until bright green. Add snow peas, sugar snap peas, onion and asparagus. Stir-fry for 3 minutes or until vegetables are tender crisp. Add soy mixture and cashews. Stir-fry until heated through.
Sprinkle stir-fry with chilli, garlic and ginger. Serve on quinoa.