In a medium saucepan, combine rinsed quinoa and water. Bring to a boil, then reduce heat to low, cover, and simmer for 10 minutes.
Add milk, maple syrup, cinnamon, and vanilla to the saucepan. Stir, then bring to a gentle simmer. Cook, uncovered, for 10-12 minutes, stirring occasionally, until quinoa is tender and porridge has thickened.
Remove from heat and let stand for 2 minutes. Stir again; if too thick, add a splash of milk.
Spoon into bowls and top with fresh fruit and nuts or seeds. Serve warm.
Tips
Leftover porridge can be refrigerated for up to 3 days; reheat with a splash of milk.
Customize with your favorite toppings like dried fruit, coconut flakes, or a drizzle of nut butter.