I've recently taken to skipping the rinse and instead dry toasting the quinoa in a skillet for a few minutes before cooking. Be sure to keep the heat low enough to not burn and shake it occasionally until it starts to give off a nutty scent. I'm not sure this helps your dilema of over/under cooking at all- but it does add a nice depth of flavor.

Roast it before adding the water! I usually rinse my quinoa in a sieve, then roast it in a dry pan until it starts to pop like pop-corn. Then, I add water in a 2:1 ratio, cover and simmer for about 15-20 min.

Roasting brings out quinoa's nutty flavour, plus it ensures that I'm not adding too much water (it evaporates the rinsing water, so I'm adding water to the 2:1 ratio).

The reason you should rinse it is because quinoa is naturally coated with saponins, which can cause a little bit of a bitter taste. If you don't taste it--or it doesn't bother you--you don't have to do it. As for cooking it, the directions always say to cook it like pasta, draining the water at the end. But I find it easier to cook it in a 2:1 water to quinoa ratio, and it ends up absorbing all of the water after about 15 minutes. Sometimes, I cook it in broth for a little more flavor. Oh!! And I always pick through the grains first to look for any little rocks that might be left in. Otherwise, I always end up biting down on something unpleasant.

This may be a cheater suggestion, but if you have a Trader Joe's in your neighborhood, their quinoa is pre-rinsed. I put it in a pot with water at a 2:1 water to quinoa ratio, wait for the water to boil, and the cover the pot and let it simmer for 10 mins for 1 cup of quinoa. It always comes out great.

Don't give up on quinoa - it's amazing.

Bob's Red Mill quinoa is prewashed so you don't have to do that. I always use a 2:1 ratio as well with the quinoa and water. Leave the lid on during cooking (though I peak occasionally and quickly). After it looks done turn off the stove, remove the pot from the heat and keep it covered for a few minutes. Then open it up and fluff it with a fork.

I put my quinoa in a bowl of water, swirl it around and when it's time to drain, I put a paper towel over the lip of the bowl and slowly drain the water out of the bowl. The paper towel keeps the quinoa from escaping and when you're done draining, I whack the towel over the bowl to dislodge any hangers-on.

To cook: Rice cooker. Treat it like brown rice. Add a drizzle of olive oil to the pot before cooking. DONE.

Don't skip the oil. Regardless of what you're using it for after its cooked - you can't taste the oil when it's done - but it keeps it from foaming/boiling over in the cooker.

Looks like there are already lots of good suggestions. Before the holidays, I made a quinoa salad with roasted acorn squash, sage, and shallots. It was pretty good... but I'd like to try some different recipes that are vegetarian and also traditional Peruvian. Any ideas?

I boil it for 10 minutes in salted water, rinse and then steam it over sieve for 20 minutes. It always turns out light and fluffy. I love using it especially in fried quinoa: http://myburningkitchen.com/2011/01/27/quinoa/

IKEA sells sieves that fit perfectly over a medium saucepan with holes small enough to hold them in.

I make mine in the rice cooker as well, but have never added oil (or salt). Perfect grains every time!

No matter what the grain is, always bring the water and grain to a boil with the lid off. Once at a boil, turn heat down and put the lid on. My quinoa turns out perfect this way and I use a 2:1 ratio.

Swish the quinoa around in a small bowl filled with water; when you are ready to drain the water, use a wire mesh strainer to block the quinoa from slipping out.

Thanks everyone. I'm very excited about the pre-washed variety. I really like quinoa so I'll retry this week with your suggestions.
Alice

I do the boil and steam method as well--I think it keeps the grains so much fluffier. You will need a sieve with smaller holes, though. Boil in water for 15 minutes (like pasta), drain. Fill the pot back up with a few inches of water, set the sieve over, and cover with a side towel and the pot lid. Steam for another 15 minutes, and fluff with a fork.

I also prefer the boil and steam method described a couple times above.

Since going Paleo, I don't eat grains anymore, but when I did, I used the rice cooker method. Perfect every time.

I actually made quinoa last night and in my haste instead of adding 1 tsp. of bouillon to the water I added 1 tbsp. -- of course not realizing this I also sprinkled a little salt on it to give it some more flavor. Result: unfortunately disgusting.

Anyway, I use the Trader Joe's quinoa and just cook it with 2:1 ratio until the water is absorbed -- it turns out great!

Do you have a double mesh sieve? That's what I use to rinse quinoa and I've never had a problem with losing grains.

I know I've posted this before but I'm just so enthusiastic about cooking my quinoa in the oven instead of on the stovetop. No more mushy wet quinoa!
http://www.beyondsalmon.com/2011/03/how-to-cook-quinoa.html

I use a coffee filter to rinse my quinoa. It can be a little slow but works really well.

I just picked up a cheap single-layer mesh strainer at Safeway, and I never lose any grains (though it is still a pain trying to get all the grains out of the strainer into the saucepan, since they tend to stick).

As far as undercooking, just keep an eye out for the ring the quinoa germ forms when it's cooked-- you should have a bunch of little rings in your quinoa when it's ready. Keeping the heat very low is helpful, too. And personally, I really love the flavor when quinoa is cooked in vegetable broth-- and sometimes I'll lightly sauté the cooked grains at the end with whatever vegetables I'm adding.

Best method I've come across yet for dry fluffy quinoa is cooking it longer and with less water. Recipe here: http://www.cookingquinoa.net/how-to-cook-quinoa-perfectly