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Place quinoa in a mesh colander. Rinse thoroughly with cold water (until the water runs clear) and allow to drain.
In a medium pot, combine the quinoa, milk, maple syrup, cinnamon, and salt. Bring to a boil over medium heat.
Reduce heat to a low simmer and cover, leaving the lid cracked so that some steam may escape. Simmer for 20-25 minutes, stirring about every 5 minutes or so.
Remove the lid and continue simmering for 5 more minutes or until the pudding has thickened and the quinoa has absorbed most (but not all) of the milk.
Remove from heat, now add your vanilla & stir in. If you feel that too much liquid has been absorbed or you want it creamier, add another ¼ cup of milk, stir through.
Pour into bowls and allow to cool for a few minutes before serving (pudding will continue to thicken as it cools).
Will thicken up beautifully once refrigerated overnight. Sprinkle with additional cinnamon, if desired.