Melt butter in 12-inch skillet over medium heat. Cook onion and carrot in butter 1 to 2 minutes, stirring occasionally, until crisp-tender. Stir in quinoa. Cook and stir 1 minute.
Pour 1 cup of hot broth over quinoa and add seasoning packet. Cook uncovered about 5 minutes, stirring occasionally, until liquid is absorbed. Stir in asparagus. Reduce heat to medium-low and cover. Cook 15 to 20 minutes longer, adding broth 1 cup at a time and stirring frequently, until liquid is absorbed; remove from heat. Stir in remaining ingredients.
*For softer grains increase broth and cooking time.