Empty the bag of frozen vegetables into a large mixing bowl. Use a piece of paper towel to wipe out any significant frost (don't be too fussy about this). Add 2 teaspoon of olive oil and toss.
Spread out on a baking sheet and roast for 9-10 minutes, mix the vegetables around and return to oven after about 6 more minutes, retoss then roast a few more minutes (total roasting time about 20 minutes). (Feel free to line the baking pan with parchment paper for easy clean up if you like.)
While the vegetables are roasting, place a small skillet over med-high heat, add 1 teaspoon olive oil, quinoa and garlic, stir regularly until quinoa is toasted, but garlic is not burnt.
Add stock, reduce heat to med-low, cover and simmer to cook the quinoa, until liquid is absorbed (about 20 minutes).
Add the roasted vegetables to the skillet and drizzle sesame oil over them. Gently toss until evenly mixed.
Serve with your choice of condiments. (My faves are either a a combination of sriracha, lime and soy sauce or just a generous sprinkle of Parmesan cheese.)