Begin by rinsing the quinoa under cold water in a fine-mesh sieve until the water runs clear.

In a medium saucepan, combine the rinsed quinoa and water. Bring to a boil, then cover and simmer for 15 minutes.

Once cooked, let the quinoa sit, covered, for an additional 5 minutes. Fluff with a fork and cool.

Chop the vegetables: red bell pepper, cucumber, shredded carrots, sliced green onions, and fresh cilantro.

In a small bowl, whisk together soy sauce, lime juice, honey, sesame oil, grated ginger, and minced garlic. Adjust seasoning with salt and pepper.

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

Pour the dressing over the salad and gently toss to coat evenly.

Chill the salad in the refrigerator for at least 30 minutes before serving.