Prepare quinoa according to package directions. I usually cook quinoa in low-sodium chicken broth: 1 cup quinoa to 1 1/2 cups liquid.
While quinoa is cooking, combine all of the sauce ingredients together in a liquid measure and whisk to combine (or pulse in a blender). When the quinoa finishes cooking, scoop it into a large bowl. Stir in the sauce and mix well. Stir in the chicken, carrots, edamame, red pepper, green onions, peanuts and cilantro. Add salt and pepper to taste. Serve warm, room temperature or chilled.
Chicken: be aware that this recipe makes use of already cooked chicken so plan ahead (it's a great way to use up leftover cooked chicken and is delicious with grilled chicken or even leftover turkey). Edamame: I can't find fresh edamame in my neck of the woods, so I bought frozen, let it thaw and popped the edamame out of the shells and right into the salad. Amounts: also, for the most part, the amounts for the salad ingredients aren't rocket science and can just be eyeballed based on your taste preference.