In a stovetop pot, cook the quinoa according to the instructions on the package. This will take around 15 minutes.
While the quinoa is cooking, in a separate pot, add enough water to ensure it will more than cover the beans (about 1½ cups water). Bring the water to a boil.
Add in the frozen edamame beans. If you're not using frozen beans, you can skip this step. It should take about 5 minutes to cook the beans. They should be easily piercable with a fork if they're fully cooked.
While these are cooking, mix together all the sauce ingredients in a small bowl. Set aside.
Toss together all the salad ingredients, aside from the quinoa and edamame, in a medium-sized bowl.
After the beans and quinoa are done, turn off the heat.
Add them into the bowl, tossing to ensure the salad is evenly mixed.
Pour the sauce over top, tossing again to coat.
Serve the salad as a side with a main course, or enjoy on its own!