Preheat the grill to medium-high heat. In a large bowl, combine the shrimp, asparagus, olive oil, paprika, garlic powder, salt, and pepper. Toss until everything is well coated.
Thread the shrimp onto skewers (if using wooden skewers, soak them in water for 30 minutes beforehand).
Grill the shrimp and asparagus for about 2-3 minutes per side, or until the shrimp are pink and opaque and the asparagus is tender. Remove from the grill and set aside.
In a small bowl, mix together the Greek yogurt, mayonnaise, minced garlic, lemon juice, and chopped parsley. Stir until smooth and well combined.
To assemble the bowls, divide the cooked quinoa among four bowls. Top with grilled shrimp and asparagus, and drizzle with the creamy garlic sauce.