Rinse quinoa under cold water for 1-2 minutes, then combine with water in a saucepan. Bring to a boil, cover, and simmer for 15 minutes.

While quinoa cooks, prepare the vegetables: dice red bell pepper, slice cucumber, grate 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. Add salt and pepper to taste.

Let quinoa cool for 10 minutes after cooking. In a large bowl, combine quinoa, vegetables, peanuts, and sesame seeds, folding gently to combine.

Pour dressing over the salad mixture and toss until everything is well-coated.

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