In a small mixing bowl, add mustard, honey, rosemary and salt/pepper. Whisk together to combine.
Chop sweet potato and veggies and add to sheet pan lined with parchment paper. Drizzle with oil and sprinkle salt and pepper.
In another pan, add thighs and season with a layer of honey mustard sauce using a brush on both sides.
Place thighs and veggies into oven. Bake for 15-18 minutes, flip chicken over, coat with another layer of sauce and return to oven for another 10-15 minutes. Cook until chicken has an internal temperature of 165F.
As the chicken is baking, add two cups of water to a pot, add one cup quinoa. Boil, cover and then simmer for 15 minutes.
Brush the chicken with reserve sauce and broil on high for 1-2 minutes to get a crispy skin!