Rinse quinoa under cold water in a fine-mesh strainer. In a medium saucepan, combine the rinsed quinoa with 2 cups of water and a pinch of salt. Bring to a boil, then reduce heat to low, cover, and simmer for 15 minutes.

Remove quinoa from heat, let sit covered for 5 minutes, then transfer to a large bowl to cool.

Prepare the vegetables: Dice red bell pepper, chop cucumber, shred carrots, slice green onions, and chop cilantro; set aside.

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

In the large bowl with cooled quinoa, add diced vegetables, peanuts, and sesame seeds. Toss gently to mix.

Pour dressing over the quinoa and vegetable mixture, toss gently, and allow to chill in the refrigerator for at least 30 minutes before serving.