Cook the quinoa in salted water according to the package instructions, then let it cool.
Cut the tofu into cubes and marinate in a mixture of soy sauce, olive oil, and grated garlic for 15 minutes.
Heat a grill pan and cook the tofu cubes on all sides for 2-3 minutes, or until golden brown.
Slice the cucumber thinly, and halve the cherry tomatoes.
In a large bowl, combine the quinoa, arugula, cucumber, and tomatoes. Season with salt and pepper.
Prepare the dressing: whisk together the lemon juice, olive oil, and chopped parsley. Drizzle over the salad.
Place the grilled tofu on top of the salad and serve immediately.
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