Prepare the quinoa first by thoroughly rinsing 1/2 cup quinoa in a fine mesh strainer, then bringing to a boil with 1 cup water in a small saucepan. Once boiling, reduce heat to simmer, cover and cook on low for 15-20 minutes.
Bring medium saucepan of water to boil. Add in 1 minced garlic clove and bring to boil. Stir in lentils. Reduce heat and simmer uncovered until lentils are just tender, which is about 20 minutes.
Preheat oven to 450 degrees. Place yellow peppers, chopped into squares, on a rimmed baking sheet. Drizzle with 1 tbs olive oil. Divide 1 garlic clove among peppers. Sprinkle and season with salt and pepper. Roast until flesh is tender and skin is blistered in spots, 35 minutes.
Stir remaining oil, vinegar, mustard and remaining garlic in a small saucepan over low heat until just warm (do not boil).
Place warm lentils and quinoa in bowl. Add in yellow pepper, chopped onion, walnuts, dried fruit, chopped parsley and warm vinaigrette; toss to coat. Season with salt and pepper. Spoon salad onto spinach leaves and top with your favorite vegan yogurt; Serve warm.