Discard the soaking water and drain the quinoa.
In a small saucepan, add 2 cups of water and the quinoa and bring to a boil.
Lower the heat and cover with a lid until the quinoa is cooked and there is no more water in the saucepan.
Add the cinnamon, honey, vanilla and as much milk as you prefer.
Consumer it plain or add toppings of your choice. Sliced strawberries and almond butter are my favorites!