Either soak quinoa overnight in water and drain on the day of cooking OR rinse quinoa under running water to remove bitter saponins.
Cook 1 cup of quinoa with 2 cups of water.
Add cooked quinoa to blender with 2 cups of water. Blend on high until smooth
Add water to the desired consistency, blending the mixture after each addition. Up to 6 cups total of water may be needed for the consistency of store-bought non-dairy milks. Add vanilla extract and cinnamon and agave if using
Pour milk into nut milk bag, hold over a bowl or large jug. Massage contents until all liquid has passed through the material - leaving only the 'pulp' behind.
Notes
Reserve leftover quinoa pulp for healthy addition to breakfast, or for baking.
The caramel colour of this milk is due to the mixed quinoa I used - with red, black and white seeds.
Recipe by @OmNomAlly at https://omnomally.com/2011/08/11/cinnamon-quinoa-milk/