Cook the quinoa by combining rinsed quinoa and water in a medium saucepan. Bring to a boil, then reduce heat to low and simmer for 15 minutes. Remove from heat and let cool.

Prepare the vegetables by dicing the red bell pepper and cucumber, shredding the carrots, slicing the green onions, and chopping the cilantro.

Make the dressing by whisking together soy sauce, lime juice, honey or maple syrup, sesame oil, grated ginger, and minced garlic in a small bowl.

Combine the cooked quinoa, diced vegetables, peanuts, and sesame seeds in a large bowl. Pour the dressing over and toss gently to coat.

Let the salad sit for at least 15 minutes before serving to allow flavors to develop. Serve chilled or at room temperature.