We haven't made quinoa milk at home before, but judging from a post at Om Nom Ally, the process is very easy. Ally soaked quinoa overnight, cooked it on the stove, then blended it with water, added vanilla and cinnamon, and strained it through a nut milk bag. (A fine mesh strainer or cheesecloth would also work.)
For a sweeter milk, you could add sugar, agave nectar, or honey. Also note that using white quinoa without any cinnamon or vanilla would yield a lighter colored milk. It should last for several days in the refrigerator.
Get the recipe: Cinnamon Quinoa Milk at Om Nom Ally
Related: Hot Rice Breakfast Drink
(Image: Om Nom Ally)