Rinse quinoa under cold water and combine with 2 cups of water in a saucepan. Bring to a boil, then reduce heat to low, cover, and let simmer for about 15 minutes until fluffy. Allow to cool.

Prepare the vegetables: dice the red bell pepper, chop the 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, ginger, garlic, salt, and pepper. Adjust to taste.

In a large mixing bowl, combine the cooled quinoa, prepared vegetables, chopped peanuts, and sesame seeds. Drizzle dressing over the salad and toss gently to combine.

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