Rinse the quinoa under cold water using a fine mesh strainer. Combine with 2 cups of water and a pinch of salt in a saucepan; bring to a boil, reduce heat to low, and simmer for about 15 minutes.

Dice the red bell pepper and cucumber. Shred the carrots, slice the green onions, and chop the cilantro.

In a small mixing bowl, whisk together the soy sauce, lime juice, honey, sesame oil, grated ginger, and minced garlic; season to taste.

In a large mixing bowl, combine the cooled quinoa with the prepared vegetables, chopped peanuts, and sesame seeds. Toss with the dressing.

Cover the bowl with plastic wrap and refrigerate for at least 30 minutes.

Toss the chilled salad gently before serving. Enjoy cold.