Rinse the quinoa in a fine-mesh strainer under cold water until the water runs clear, which helps remove the bitter saponin coating.

Heat the oil in a medium saucepan over medium heat until it shimmers. Add the onion and salt and cook until the onion is softened and translucent, about 5 minutes.

Add the chipotle powder and cumin and cook until fragrant, about 30 seconds.

Stir in the rinsed quinoa and cook, stirring frequently, until the grains are dry and smell slightly nutty, about 2 minutes.

Add the broth and bring to a simmer. Reduce the heat to low, cover, and cook until the quinoa is tender and all liquid is absorbed, 15 to 18 minutes.

Remove the pan from the heat and let it stand, covered, for 5 minutes—this allows the grains to steam and fluff up properly.

Gently fold in the queso fresco, peanuts, scallions, and lime juice with a fork and serve immediately.