Preheat the oven to 400°F. Line a baking sheet with parchment paper.
Combine the juice, zest, red pepper, herbs, cumin, salt, pepper, and olive oil in a blender or food processor and blend until combined.
In a bowl, gently toss the tofu with about a third of the herb mixture. Place the tofu on one side of the baking sheet. Toss the cauliflower in another third of the herb mixture and place alongside the tofu.
Roast for 20 minutes, then turn the tofu cubes and stir the cauliflower and roast for another 10 minutes. When finished, remove from oven and add the tofu and cauliflower a large bowl with the cooked quinoa (reheat if you’re using leftovers/ cooked earlier). Stir in the arugula and the additional herb mixture until everything is well coated.