Rinse quinoa under cold water to remove its saponin coating.

In a medium saucepan, combine rinsed quinoa with 2 cups of water. Bring to boil, reduce heat, cover, and let simmer for about 15 minutes.

Remove from heat and cool quinoa for about 10 minutes, fluff with a fork.

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

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

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

Drizzle dressing over the mixture and toss to coat.

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