Cook quinoa as instructed.
Mix balsamic vinegar, thyme, salt, and pepper in a Tupperware or other sealed container. Cut tofu into small strips (like French fries) and place in the marinade. Seal and shake so marinade covers tofu. Let soak while quinoa cooks; flip tofu when quinoa is half-finished. Cut avocado into small slices.
When quinoa is done, take 1/2 tablespoon of the marinade and stir it into the quinoa. Spread quinoa over Nori. Lay tofu and avocado into rows, and roll. Seal by dipping fingers in water and pressing closed; dampen entire roll for easier cutting. Slice and enjoy.