In a large bowl, combine the quinoa, pasta sauce, milk, pesto, half the mozzarella, and half the cherry tomatoes. Season lightly with salt and pepper. Spoon the mixture into the prepared baking dish and top with the remaining mozzarella. Layer on the sliced heirloom tomatoes and the remaining cherry tomatoes. Drizzle the tomatoes lightly with olive oil and sprinkle with salt and pepper.
Bake for 10 to 15 minutes, or until heated through, then turn on the broiler and broil for 1 to 2 minutes, or until the cheese is golden and bubbling.
Top with fresh basil and/ or basil pesto before serving.
