I've been cooking quinoa for 6 years. This is my favorite method.
1) Sweat 1 cup of chopped vegetables (onion, celery, bell pepper, carrot, etc...) in 2 tablespoons of oil. 10 minutes, medium low heat. Season with salt and pepper.
2) Add minced garlic and cook for about 2 or 3 minutes.
3) Drain the liquid from a can of diced tomatoes and add them to the veggies. Turn the heat up to medium high and simmer until nearly all of the liquid evaporates.
4) Add a can of (drained) black bean, or thawed, shelled, endamame. Or don't. It's good either way.
5) Add 1 cup of WELL RINSED quinoa. By well rinsed I mean rinse it until you think your good, and then rinse it for another minute or so. Stir the quinoa and veggies for a bit and then add 2 cups of liquid (chicken broth, vegetable broth, water... your choice).
6) Season. I will either do southwestern, curry, creole, or something more mild for the kiddos.
7) Bring it to a boil, stir, and reduce to low heat. Cover. Simmer for 20 minutes. Remove from heat. Add some fresh chopped cilantro or other herbs. Fluff the quinoa with a fork. Cover and let it sit for about 5 minutes. Taste and add salt if needed.
Be sure to measure about a 1 cup portion. It's easy to eat the whole thing.