Rinse 1 cup of quinoa under cold water in a fine-mesh sieve for about 2 minutes to remove any bitter coating.

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

While the quinoa cools, chop 1 red bell pepper and 1 cucumber, shred 1 medium carrot, slice green onions, and chop fresh cilantro.

In a small bowl, whisk together ¼ cup soy sauce, juice from 1 lime, 2 tablespoons honey, 1 tablespoon sesame oil, fresh ginger, minced garlic, salt, and pepper.

In a large bowl, combine the cooled quinoa, chopped vegetables, ¼ cup chopped peanuts, and 2 tablespoons sesame seeds. Pour dressing over and toss gently.

Cover and chill the salad in the refrigerator for at least 30 minutes before serving.