Transfer the quinoa to a medium saucepan and add enough water to cover the quinoa by at least 1 ½ inches. Set the pot on the stove over high heat and bring to a boil. When the water boils, drop the heat until it simmers vigorously. Simmer until it is tender, about 15 minutes. Pour into a colander and leave to drain in the sink for a few minutes.
To serve, divide warm quinoa among 4 bowls. Top with fruit and nuts/seeds. Drizzle with milk and add maple syrup and cinnamon, if desired.