Rinse quinoa under cold water. Combine with water or broth in a saucepan and bring to a boil. Reduce heat, cover, and simmer for about 15 minutes until fluffy.

Heat olive oil in a skillet over medium heat. Add ground beef and cook for 7-10 minutes until browned. Drain fat if necessary.

Add diced onion and bell peppers to the skillet. Sauté for about 5 minutes until tender and slightly caramelized.

Sprinkle taco seasoning over the beef and veggies. Sauté for an additional 2 minutes until well mixed.

Assemble bowls with quinoa, topped with the beef and vegetable mixture, and your choice of avocado, cheese, and salsa.