Add the sweet potato, carrots and parsnip to a large rimmed baking sheet. Drizzle with the olive oil, then sprinkle with the salt and pepper. Toss to combine and spread in an even layer. Bake for about 25 to 30 minutes, stirring once halfway through, until the vegetables are tender and starting to brown.
For the risotto:
While the veggies roast, add the olive oil to a medium saucepan set over medium heat. When hot, add in the shallot and garlic, and cook for about 2 to 3 minutes, until the shallot has softened. Add in the quinoa and cook for 45 seconds to 1 minute, stirring almost constantly, until toasted. Pour in the broth. Bring the mixture to a boil, then cover, turn down the heat, and simmer for about 12 to 14 minutes, or until almost all of the liquid has been absorbed and the quinoa is tender. Add in the goat cheese and mix until it starts to melt. Remove from the heat. Add in the lemon zest and parsley, and mix to combine. Let stand for about 5 minutes, then stir in salt and pepper to taste.
To serve, spoon some of the risotto into a bowl and top with some of the roasted veggies.