Rinse quinoa under cold water in a fine-mesh strainer. In a medium saucepan, combine quinoa with water and a pinch of salt. Bring to a boil, reduce heat to low and simmer for about 15 minutes or until water is absorbed. Let cool.

Chop red bell pepper, cucumber, and shredded carrots into bite-sized pieces. Slice green onions and chop cilantro. Combine all veggies in a large mixing bowl.

In a small bowl, whisk together soy sauce, lime juice, honey, sesame oil, ginger, and garlic. Adjust sweetness or acidity as desired.

Fluff cooled quinoa with a fork and add to mixed veggies. Toss in chopped peanuts and sesame seeds, then pour dressing over and mix until well coated.

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