Preheat oven to 400°F (200°C). Line a baking sheet with parchment paper.
In a saucepan, combine quinoa and vegetable broth. Bring to a boil, then reduce heat to low and simmer until the quinoa is cooked, about 15-20 minutes.
While the quinoa is cooking, toss the sweet potato, eggplant, bell pepper, and zucchini with olive oil and season with salt and pepper. Spread the vegetables out on the prepared baking sheet and roast in the oven for 20-25 minutes, until tender and lightly browned.
In a small bowl, whisk together the balsamic vinegar, Dijon mustard, maple syrup, and garlic to make the dressing.
Once the quinoa and vegetables are cooked, combine them in a large bowl. Add the dressing and chopped fresh herbs and toss to combine. Serve warm or chilled.
