Rinse the quinoa under cold water in a fine-mesh sieve to remove saponin. Set aside to drain.

In a medium saucepan, combine quinoa and water. Bring to a boil, then reduce heat, cover, and simmer for about 15 minutes until fluffy.

Chop the vegetables: dice the bell pepper, slice the cucumber, shred the carrots, and chop green onions and cilantro.

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

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

Pour the dressing over the salad and gently toss to combine all ingredients evenly.

Cover and refrigerate for at least 30 minutes to enhance flavors before serving.

Serve cold or at room temperature, giving a gentle toss before serving.