In a wok or frying pan, heat 1 T olive oil or desired cooking oil.
When oil is hot, heat garlic until fragrant.
Add in broccoli, mushrooms and onion. Stir-fry for about 3-5 minutes or until broccoli is cooked through.
While veggies are cooking, thaw frozen quinoa in microwave according to directions.
Whisk together all ingredients for peanut sauce and add water to desired thickness.
When veggies are ready, add in quinoa and peanut sauce.
Change heat to low and stir to coat stir-fry in sauce.
Allow to simmer for 2-3 minutes.
Remove from heat, and serve! Top with freshly chopped cilantro and sesame seeds if desired.