Rinse quinoa under cold water in a fine-mesh sieve for about 2-3 minutes.

Combine rinsed quinoa with water in a saucepan, bring to a boil, reduce heat, cover, and simmer for 15 minutes.

While quinoa cools, finely dice red bell pepper, cucumber, and shred carrots. Slice green onions and chop cilantro. Set aside.

In a separate bowl, whisk together soy sauce, lime juice, honey, sesame oil, ginger, and minced garlic. Season with salt and pepper.

Fluff the cooled quinoa with a fork and add it to the bowl with vegetables. Toss in peanuts and sesame seeds.

Pour dressing over quinoa and vegetable mixture. Gently toss to ensure even coating.

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