Place quinoa and 1 cup of cold water in a medium saucepan. Bring to a boil over medium-high heat, then cover the pan with a lid and reduce the heat to medium-low. Simmer until all of the water has been absorbed, about 15 minutes. Fluff the quinoa with a fork. 2.Slice the eggplants in half lengthwise. Use a spoon to scrape the flesh out of each half ofthe eggplant, leaving a 1-inch border all the way around. Place the hollowed eggplants on a baking sheet or tray and roughly chop the scooped out flesh. 3.While the quinoa is cooking, heat olive oil in a large saute pan set over medium-high heat. Add the onion and cook until slightly softened and translucent, about 3 minutes. 4.Add the garlic, mushrooms, chopped eggplant, and walnuts to the onion and cook for 3-4 minutes more. 5.Stir in the tomatoes, balsamic vinegar, parsley, salt, ground black pepper, cooked quinoa, and parmesan cheese. Remove from the heat. 6.Stuff each eggplant half with the quinoa and vegetable mixture. 7.Oil your grill grates and heat the grill to medium-high. Place the stuffed eggplant halves skin side down on the grill. Cover the grill and cook for 35 to 40 minutes or until the eggplant is tender. Serve topped with additional parmesan and chopped parsley, if desired