Rinse the quinoa under cold water using a fine mesh strainer until the water runs clear, then drain.

In a medium saucepan, combine the rinsed quinoa, whole milk, maple syrup, vanilla extract, ground cinnamon, and salt.

Bring the mixture to a boil over medium heat, then reduce the heat to a low simmer. Cover the saucepan with the lid slightly ajar to allow steam to escape and simmer for 25 minutes, stirring occasionally.

After 25 minutes, remove the lid and continue simmering for an additional 5 minutes, or until the pudding has thickened and the quinoa is tender.

Transfer the pudding to serving bowls and let it cool for a few minutes; it will continue to thicken as it cools. Serve warm.