Rinse the quinoa under cold water to remove any bitterness. Combine it with water in a saucepan, bring to a boil, then reduce the heat, cover, and let it simmer for 15 minutes until fluffy. Allow it to cool.

Dice the red bell pepper and cucumber, shred the carrots, slice the green onions, and chop the fresh cilantro into small pieces.

In a mixing bowl, whisk together the soy sauce, lime juice, honey, sesame oil, ginger, garlic, salt, and pepper. Adjust flavors as necessary.

In a large bowl, gently mix the cooled quinoa with the prepared vegetables, chopped peanuts, and sesame seeds. Drizzle the dressing over the top and toss everything together.

Refrigerate the salad for at least 30 minutes to allow the flavors to meld together. Serve chilled or at room temperature.