In a medium sized saucepan over high heat add one cup of rinsed quinoa, 2 cups of water, and a pinch of salt.
Bring to a boil then cover with a lid, reduce the heat to medium low, and cook for 15-20 minutes or until all of the water is absorbed.
While the quinoa is cooking, whisk together all of the ingredients for the marinade in a large bowl.
Add the diced chicken to the marinade, tossing to coat, then set aside.
In a small bowl whisk together all of the sauce ingredients, then set aside.
Chop all of the vegetables for the stir fry.
Heat a wok or large skillet over high heat, heat 1/2 tablespoon of the sesame oil.
When the wok is very hot add in the carrot and onion and cook for 1 minute, stirring often.
Add in the mushrooms, broccoli, and garlic and cook for another couple minutes.
Add in the zucchini and cook for another minute before removing all of the vegetables from the wok onto a plate.
Add the remaining 1/2 tablespoon of sesame oil to the wok then add in the diced chicken and some of the marinade if desired.
Cook the chicken until it is fully cooked, stirring often.
Add the vegetables back into the wok along with the sauce.
Stir everything together until the sauce thickens and coats the chicken and vegetables.
Sprinkle the sesame seeds on top of the stir fry if desired.
Serve the stir fry over the cooked quinoa.