01 - Rinse quinoa thoroughly under cold running water to remove its natural bitter coating. Combine with 2 cups water and ½ teaspoon salt in a medium saucepan. Bring to a rolling boil, then reduce heat to low, cover tightly, and simmer for 15 minutes until all liquid is absorbed. Remove from heat, fluff grains with a fork, and set aside to cool completely.
02 - Preheat a grill or grill pan over medium-high heat until smoking lightly. Brush each peach half evenly with olive oil on the cut side. Place peaches cut-side down on the hot grate and cook for 2 to 3 minutes until distinct grill marks develop and flesh softens slightly. Transfer to a plate, cool to room temperature, then slice each half into wedges.
03 - In a small bowl, vigorously whisk together the extra-virgin olive oil, fresh lime juice, honey or maple syrup, sea salt, and black pepper until the mixture is fully emulsified and no streaks remain.
04 - In a large mixing bowl, combine the cooled quinoa, grilled peach wedges, sliced red onion, chopped red chili, halved cherry tomatoes, torn mint leaves, and cilantro if using. Toss gently to distribute all components evenly.
05 - Pour the prepared dressing over the assembled salad. Toss with a light hand until every ingredient is evenly coated. Serve immediately at room temperature, or refrigerate for 30 minutes to allow the flavors to meld together before serving.