Rinse quinoa and add it to a medium pot with the water. Bring to a boil and then lower the heat to low, cover with a lid, and simmer for 15 minutes.
While the quinoa is cooking, prep veggies and add it to a big mixing bowl.
Make the sauce by adding the peanut butter and soy sauce to a large liquid measuring cup or bowl. Microwave for 15-20 seconds and whisk to combine. Then add the rest of the sauce ingredients. Whisk until smooth.
Once quinoa is done, remove from heat and keep the lid on and let it sit for 5 minutes. Remove the lid and fluff. Add quinoa to the large mixing bowl with all the veggies.
Pour sauce on top and mix with a wooden spoon or tongs until everything is well combined. Serve warm or cold. Enjoy!