Place peeled and sliced beets in a saucepan with salt and cover with water. Bring to a boil then reduce heat to medium and simmer until beets are fork tender, about 15 min. Drain beets and toss with oil.
Arrange asparagus on a rimmed baking sheet, drizzle with oil and roll to coat. Season with salt and pepper.
Place beets and asparagus directly on the grill grates and grill over high heat until vegetables are lightly charred in spots, 3 to 4 minutes on eat side.
Remove from grill, cut beet slices into quarters and asparagus into 1-inch segments. Toss together in a bowl, cover to keep warm, and set aside. If needed, keep warm in the oven until ready to top with the goat cheese and balsamic.
Cut or shape goat cheese into a 1-inch by 2-inch thick diameter disc. Press goat cheese into panko crumbs on all sides. Heat 2 to 3 tablespoons of oil a cast iron skillet over medium heat.
When the skillet is hot, place the discs of goat cheese in the skillet and cook until golden brown on both sides (about 2 minutes on each side).
Place fried cheese on top of the vegetables. Drizzle with balsamic and serve immediately.
Beets and asparagus can be oven roasted at 400°F for 8-10 minutes as an alternative to grilling.To make this gluten-free, use gluten-free panko crumbs for the cheese.