Rinse the quinoa under cold running water until the water runs clear, about 2-3 minutes.

In a medium saucepan, combine the rinsed quinoa, milk, maple syrup, ground cinnamon, and salt. Stir to mix well, then bring to a gentle boil.

Once boiling, reduce the heat to low, cover slightly ajar, and simmer for 20-25 minutes, stirring every 5 minutes.

After simmering, remove the lid and check consistency. If thickened, let it simmer uncovered for an additional 5 minutes.

Remove from heat, stir in vanilla extract, and adjust consistency with milk if needed.

Serve warm or chill for at least an hour. Top with fruits, nuts, or a sprinkle of cinnamon.