In a small saucepan, combine the cooked quinoa, almond milk, cinnamon, vanilla extract, maple syrup (if using), and a pinch of salt.
Warm the mixture over medium heat, stirring occasionally, until heated through and well combined, about 3–5 minutes.
Transfer the warm quinoa to a serving bowl.
Top with sliced banana, fresh blueberries or other fruit, a dollop of almond or peanut butter, chopped walnuts or pecans, and a sprinkle of hemp seeds.
Add a spoonful of yogurt on top if desired, then serve immediately.