In a medium saucepan, combine rinsed quinoa and water. Bring to a boil over medium-high heat.
Reduce heat to low, cover, and simmer for 15 minutes or until quinoa is tender and water is absorbed. Remove from heat and fluff with a fork.
While quinoa cooks, heat olive oil in a large skillet over medium-high heat.
Add diced onion and sauté for 3 minutes until translucent.
Add minced garlic and cook for 1 minute until fragrant.
Add ground beef to the skillet, breaking it apart with a spoon. Cook for 6-8 minutes until browned and cooked through.
Stir in diced red bell pepper, broccoli florets, and shredded carrots. Cook for 5 minutes until vegetables are tender-crisp.
In a small bowl, whisk together soy sauce, grated ginger, honey, sesame oil, and black pepper.
Pour the sauce over the beef and vegetable mixture. Stir well to combine and cook for an additional 2 minutes to heat through.
Divide cooked quinoa evenly among four bowls.
Top each bowl with the beef and vegetable mixture.
Garnish with sliced green onions and sesame seeds before serving.