1. Rinse the quinoa under cold water.
2. In a saucepan, bring the water to a boil. Add the quinoa, reduce to a simmer, cover, and cook for 15 minutes or until the water is absorbed.
3. Remove from heat and let the quinoa cool.
4. In a large mixing bowl, combine the cooked quinoa, avocado, cherry tomatoes, red onion, and cilantro.
5. In a small bowl, whisk together the olive oil, lime juice, salt, and black pepper.
6. Pour the dressing over the salad and toss to combine.
7. Serve immediately or chill in the refrigerator for later.