Rinse 1/2 cup of quinoa under cold water. In a medium saucepan, combine rinsed quinoa with 1 cup water. Bring to a boil, reduce to low, cover, and simmer for 15 minutes.

In a large bowl, combine cooked quinoa with 1 cup chopped broccoli, 1/4 cup finely chopped red onion, 1/2 cup grated carrots, 1/4 cup chopped cilantro, 1/4 cup sliced green onions, and 1/4 cup chopped peanuts. Mix gently.

In a small bowl, whisk together juice and zest of 1/2 lime, 1 tablespoon sesame seeds, 2 tablespoons gluten-free tamari, 1 tablespoon sesame oil, and 1 tablespoon rice vinegar. Add minced garlic and grated ginger. Mix until smooth.

Pour dressing over the quinoa and vegetable mixture, stir gently to coat. Serve immediately or chill for 30 minutes before serving.