Place the rinsed quinoa, milk, water, salt, cinnamon, vanilla, and maple syrup in a medium sized pot. Bring the mixture to a boil. Reduce to a simmer. Simmer for 15 minutes, stirring often, or until the quinoa has a creamy consistency and has absorbed the cooking liquid. The mixture should be creamy, not gluey. If it's overly thick, burning, or difficult to stir, add an extra 1/4-1/2 cup water and continue stirring and cooking.