Thoroughly combine all ingredients in seasoning mixture in a small bowl and set aside.
Brown beef in a large pot or deep skillet.
Add seasoning mixture, onions, and peppers. Cook 3 minutes
Add tomatoes, milk, water, and quinoa. Cover and cook 20-30 minutes or until quinoa is cooked through and all the liquid is absorbed. Stir occasionally to keep from sticking.
Stir in cheese and serve warm by itself or with your favorite toppings!