Preheat the oven to 425°F (220°C).
Rinse the quinoa under cold water. In a medium saucepan, combine quinoa and 2 cups of water. Bring to a boil, then reduce heat to low, cover, and simmer for 15 minutes or until water is absorbed. Remove from heat and let it sit covered for 5 minutes, then fluff with a fork.
While quinoa cooks, place the diced red bell pepper, yellow bell pepper, zucchini, red onion, and cherry tomatoes on a large baking sheet.
Drizzle the vegetables with 2 tablespoons of olive oil, then sprinkle with ground cumin, smoked paprika, salt, and black pepper. Toss to coat evenly.
Roast the vegetables in the preheated oven for 25 minutes, stirring halfway through, until tender and slightly caramelized.
In a small bowl, whisk together tahini, fresh lemon juice, maple syrup, minced garlic, and 3 tablespoons of water until smooth and creamy. Add more water if needed to reach desired consistency.
In a large mixing bowl, combine cooked quinoa, roasted vegetables, black beans, and chopped parsley. Toss gently to combine.
Divide the mixture evenly into 5 meal prep containers.
Drizzle each container with the lemon-tahini dressing or keep the dressing separate until ready to serve.
Store the meal prep containers in the refrigerator for up to 5 days.