I usually just cook quinoa as I would pasta; in a good sized pot in heavily seasoned water. But once boiling, I reduce it a little to a "hard simmer" and JUST when I see the grains beginning to sprout (and still pretty undercooked), I strain it through a chinois and return it to the same pot (while it's still hot) and cover it. Let it sit for about 10-15 minutes off the heat, uncover and fluff with a fork. If I'm cooking it ahead (usually at the restaurant), I spread it on a sheet-pan to cool and "steam out".
There's a whole hotline thread about fluffy quinoa: https://food52.com/hotline/19799-what-s-the-secret-to-fluffy-quinoa
I think you'll find your answer -- and some useful tricks -- there!
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I think you'll find your answer -- and some useful tricks -- there!