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Preheat a large cast iron skillet and add the olive oil. Sear the beef over high heat, breaking the meat apart with a wooden spoon, for about five minutes or until the meat is grey and crumbed apart. Drain off excess fat or liquid.
Add the onion. Cook over medium low heat for another five minutes until onions are soft. Add the beans to the beef.
Sprinkle in the garlic, cumin, chili powder, oregano, salt and pepper to the pan. Stir to combine. Cook the taco meat for five minutes over medium heat, stirring occasionally.
Stir in the cooked quinoa to the beef and bean mix. Zest a lime over the top, then cut in half and juice the lime into the pan. Sprinkle over the chopped cilantro stems and stir everything together.
Cook the taco filling on low for another few minutes. Taste and adjust seasonings accordingly. You may wish to add more salt or chili powder.
Serve at once with taco fixings. Alternately, cool completely, transfer to an airtight container and freeze for up to three months.