Place the dry quinoa in a fine-mesh strainer and rinse under water for at least 2 minutes. This will help to remove the natural coating on the quinoa and will remove the bitter taste.
Combine the milk, rinsed quinoa, salt, cinnamon, maple syrup, and vanilla together in a medium, heavy-duty saucepan. Bring to a boil over medium heat, stirring often. Once boiling, reduce the heat to low, cover, and simmer for 15-17 minutes or until most of the liquid has been absorbed and the quinoa is tender. Once tender remove from the heat and fluff with a fork.
Serve warm with toppings of your choice.
Notes
Note on Milk: This recipe works best using almond milk, soy milk, or canned coconut milk. While you can use regular milk, keep in mind dairy can scald easily when cooked. It is best to use 1 cup of dairy milk mixed with 1 cup of water to lessen the chance of this occurring.Storage: Leftover quinoa porridge can be stored in an airtight container in the refrigerator for up to 5 days. Reheat and top as desired before serving.