Preheat the grill to medium-high heat. Season the eggplant slices with salt and pepper. Grill until cooked through and nicely marked, about 5 minutes per side. Set aside to cool, then cut into 1-inch (bite-size) pieces.
In a small bowl, mix the tahini, lemon juice, cayenne, parsley, and some salt. It will seize up and become a thick paste, which is great for traveling. Add 3 teaspoons water and mix it in until you get the consistency you want.
Mix the quinoa and eggplant, and season with some salt and pepper. Divide among 4 plates. Add some dressing to each salad and enjoy!