01 - Place quinoa, milk, water, orange zest, vanilla extract, and salt in a medium saucepan.
02 - Bring to a gentle boil over medium heat, then reduce heat to low. Cover and cook for 15 to 18 minutes, stirring occasionally, until quinoa is tender and most of the liquid has been absorbed.
03 - Stir in maple syrup or honey after removing the saucepan from heat. Cover and let sit for 2 minutes to finish absorption.
04 - Divide the quinoa mixture evenly between two bowls. Garnish with orange segments, sliced almonds, coconut flakes, and chia seeds as desired.
05 - Serve warm. Add additional milk if a thinner texture is preferred.