Rinse 1 cup of quinoa under cold water in a fine-mesh strainer. Combine it with 2 cups of water in a medium saucepan. Bring to a boil, then reduce to a simmer and cover. Cook for about 15 minutes until quinoa is fluffy. Remove from heat and let cool.

While the quinoa cools, dice 1 red bell pepper and 1 cucumber, shred 1 cup of carrots, and slice 3 green onions. Chop a handful of fresh cilantro. Arrange vegetables on a cutting board.

In a medium bowl, whisk together the dressing: Combine 3 tablespoons of soy sauce, 2 tablespoons of lime juice, 1 tablespoon of honey, 1 tablespoon of sesame oil, and 1 teaspoon of grated ginger. Add 2 minced garlic cloves, salt, and pepper to taste.

In a large mixing bowl, combine cooled quinoa, diced vegetables, ½ cup of chopped peanuts, and 2 tablespoons of sesame seeds. Fold in gently. Pour dressing over the salad and toss to coat.

Cover the salad with plastic wrap and refrigerate for at least 30 minutes before serving. Serve cold or at room temperature.