Rinse quinoa under cold water in a fine-mesh strainer for about 1-2 minutes until the water runs clear. Then cook quinoa in a saucepan with water.

Remove cooked quinoa from heat and let it sit covered for 5 minutes, then fluff with a fork and cool completely.

Chop the vegetables while quinoa cools: dice bell pepper, cucumber, shred carrot, and chop cilantro and green onions.

In a mixing bowl, combine soy sauce, lime juice, honey, sesame oil, grated ginger, minced garlic, and season with salt and pepper; whisk until blended.

In a large bowl, combine cooled quinoa, diced vegetables, chopped peanuts, and sesame seeds; fold together gently.

Pour dressing over the mixture and toss gently to incorporate the dressing evenly.

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