Rinse the quinoa under cold water using a fine mesh strainer.
In a medium saucepan, bring the beef broth to a boil. Add the quinoa, reduce heat to low, cover, and simmer for 15 minutes or until the quinoa is tender and liquid is absorbed. Remove from heat and fluff with a fork.
While the quinoa cooks, heat 1 tablespoon of olive oil in a large skillet over medium heat.
Add the diced onion and sauté for 3-4 minutes until translucent.
Add the minced garlic, red bell pepper, and zucchini to the skillet. Cook for 5-6 minutes until the vegetables are tender.
Push the vegetables to one side of the skillet. Add the remaining 1 tablespoon of olive oil to the empty side and add the ground beef.
Break up the ground beef with a spatula and cook until browned and cooked through, about 6-8 minutes.
Stir the vegetables and beef together. Add cumin, smoked paprika, chili powder, black pepper, and salt. Mix well to evenly coat the mixture with spices.
Add the chopped spinach and cook for another 2 minutes until wilted.
Remove from heat and stir in the chopped parsley.
Serve the ground beef and vegetable mixture over the cooked quinoa.