Preheat the oven to 425°F.
Toss the sweet potatoes and garlic with the olive oil, rosemary, cinnamon, salt and pepper. Spread into an even layer on a baking sheet.
Place in the oven and bake for 15-20 minutes.
While the potatoes are roasting, prepare the peanut sauce by combining all of the ingredients in a large blender or food processor.
Distribute the roasted sweet potatoes, cooked quinoa, carrots, cilantro and peanuts between two bowls. Drizzle the peanut sauce over the bowls.
