Quinoa: In a saucepan over medium-high heat, combine the quinoa and water and bring to a boil. Reduce the heat to low, cover, and cook for 15 minutes, or until the water is absorbed. Set aside, covered, to steam for 5 minutes. Fluff the quinoa with a fork and transfer to a bowl. Cover and refrigerate for at least 1 hour, or until chilled.
Tomato-Mango Salsa: In a mixing bowl, combine the tomato, mango, onion, cilantro, and lime juice. Season with salt and pepper to taste and set aside.
Asparagus: Clean and cut asparagus. Season lightly with salt and place in stovetop steamer with boiling water. Steam approximately 4 to 5 minutes, or until tender. (Note: you can also steam in a microwave-safe dish with approximately 1/4 cup water. Cover dish and steam for 3 to 5 minutes, or until tender.)
Fish: Preheat the broiler. Lightly brush the fish with the oil and season lightly with salt and pepper. Place the fish on a shallow broiler pan and broil for 5 to 7 minutes on each side, or until it flakes easily. (The thickness of the fish will determine the cooking time.)
Transfer the fish to plates and serve with salsa, quinoa and asparagus.