Heat olive oil in a large skillet over medium-high heat.
Add the ground beef and cook, breaking it up with a spoon, until browned and cooked through, about 5-7 minutes.
Add the diced onion and cook until softened, about 3 minutes.
Stir in the minced garlic and cook for 30 seconds until fragrant.
Add the rinsed quinoa to the skillet and stir to combine with the beef mixture.
Pour in the beef broth, water, and undrained diced tomatoes.
Add chili powder, ground cumin, smoked paprika, dried oregano, salt, and black pepper. Stir well to combine.
Bring the mixture to a boil, then reduce heat to low, cover, and simmer for 15 minutes.
After 15 minutes, uncover and stir in the frozen corn kernels.
Cover again and cook for an additional 5 minutes, or until quinoa is tender and liquid is absorbed.
Remove from heat and sprinkle shredded cheddar cheese evenly over the top.
Cover the skillet and let it sit for 2-3 minutes to allow the cheese to melt.
Sprinkle chopped fresh cilantro over the skillet and serve with lime wedges on the side.