In a medium saucepan, whisk together all of the ingredients except the quinoa.
Stir in the quinoa.
On medium-high heat, bring the mixture to a simmer, stirring occasionally.
Turn down to medium-low heat and cook for 20-25 minutes or until the pudding reaches your desired consistancy. Stir occasionally to keep the milk from burning.
Enjoy warm with any toppings of your choice.
Notes
For dairy free quinoa pudding, use full-fat coconut milk instead of regular milk.