Combine quinoa, milk, water, maple syrup, vanilla, cinnamon, and salt in a medium saucepan.
Bring to a boil over medium-high heat, then reduce heat to low and cover.
Simmer for 15-20 minutes, stirring occasionally, until quinoa is tender and has absorbed most of the liquid. It should be creamy but not dry.
Remove from heat and let stand covered for 5 minutes to thicken up.
Divide into bowls and top with your favorite breakfast toppings. I love adding a drizzle of extra maple syrup and a handful of fresh blueberries!