Preheat oven to 450°F.
Run the quinoa under cold water for a few minutes until the water runs clear. If you have time, leave the quinoa to soak for up to 8 hours, then rinse again before cooking. This will help it cook faster and more evenly, and it is beneficial even if you have just 20 minutes to let it soak.
Put a large pot of salted water on to boil. The water should taste salty like seawater. When it comes to a boil, drop the ears of corn in for about 3 minutes. Remove and set aside. In this same pot of water, drop in the quinoa and boil, uncovered, for 13 minutes. Drain the quinoa in a fine-meshed sieve and place the sieve back in the pot, cover with a kitchen towel and a lid. Let stand for about 15 minutes to steam.
Meanwhile combine the cherry tomatoes, zucchini, garlic, 2 tablespoons of olive oil, and salt in a medium bowl. Spread the vegetables evenly on a sheet pan and bake for about 15 minutes until slightly charred and fragrant.
Zest and juice the lime into the same bowl you used to combine the vegetables. Cut the corn kernels from the cob and place them in the bowl. Throw in the quinoa and remaining tablespoon of oil. Toss to combine. When the vegetables are finished roasting, fold them gently into the quinoa. Garnish with cilantro. Savor with delight and gratitude.