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Preheat oven to 375F
In a bowl, whisk together the miso, maple syrup, tahini, soy sauce, garlic, ginger, rice vinegar, and sesame oil to create a thick paste
Drizzle 1-2 tb olive oil onto a baking sheet and add the carrots, tossing to coat
Spread carrots out and bake for 20 minutes, tossing halfway through
Remove from oven and brush carrots with some of the miso-maple sauce, reserving most for the end
Return carrots to oven and bake for 4-6 minutes more until glaze sets and carrots are sticky
Increase oven temperature to 425F
Toss cooked quinoa with sesame oil and soy sauce
Spread quinoa on a baking sheet in an even layer and bake for 20-25 minutes, stirring halfway through until crispy
Remove quinoa from oven and let cool
Transfer carrots to a serving platter and pour crispy quinoa on top
Add ¼ cup water to remaining miso-maple paste to thin it
Pour sauce on top of the crispy quinoa and garnish with chopped parsley