Rinse the quinoa thoroughly under cold running water for about 1 minute, then set aside.

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

Chop the red bell pepper, cucumber, shred the carrots, slice the green onions, and chop the cilantro.

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

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

Cover the bowl and refrigerate for at least 30 minutes before serving.