Combine cooked quinoa, milk, maple syrup or honey, vanilla extract, cinnamon, and salt in a saucepan.
Bring the mixture to a gentle simmer over medium heat, stirring occasionally.
Reduce heat to low and continue to simmer for 10-15 minutes, or until the pudding thickens to your desired consistency. Stir frequently to prevent sticking.
Remove from heat and let cool slightly. The pudding will continue to thicken as it cools.
Serve warm or chilled. Add your favorite toppings.
Notes
For a richer pudding, use full-fat milk or add a tablespoon of butter or coconut oil.
Adjust sweetness to your preference.
Store leftover pudding in an airtight container in the refrigerator for up to 3 days.