Rinse quinoa under cold water in a fine-mesh sieve for 2 minutes. Transfer to a medium saucepan, add water, and bring to a boil. Cover, reduce heat, and simmer for 15 minutes until fluffy. Let cool.

While quinoa cools, dice the red bell pepper and cucumber, shred the carrots, slice the green onions, and chop cilantro.

In a small bowl, whisk together soy sauce, lime juice, honey, sesame oil, ginger, garlic, salt, and pepper until smooth.

In a large bowl, combine cooled quinoa, diced vegetables, chopped peanuts, and sesame seeds. Toss gently until well mixed.

Drizzle the dressing over the salad and toss again until well coated. Refrigerate for at least 30 minutes before serving.