Rinse the quinoa under cold water. In a medium saucepan, combine quinoa and 2 cups of water. Bring to a boil, then reduce heat to low, cover, and simmer for 15 minutes. Fluff with a fork and set aside.

In a large skillet, heat vegetable oil over medium heat. Add diced onion, minced garlic, diced carrot, peas, and diced bell pepper. Cook until vegetables are tender, about 5-7 minutes.

Add cooked quinoa to the skillet with the vegetables. Drizzle with soy sauce and sesame oil. Season with salt and pepper to taste. Stir well to combine and heat through.

Serve the quinoa fried rice hot, garnished with chopped green onions or sesame seeds if desired.