Cook quinoa in a medium saucepan of well-salted boiling water, uncovered, until almost tender, about 10 minutes. Drain in sieve. Add 1 inch water to saucepan and set sieve in pan (make sure bottom of sieve is not touching water) and bring water to a boil. Cover quinoa with a folded kitchen towel (not terry cloth), then cover with a lid (don’t worry if lid doesn’t fit tightly) and steam until tender, fluffy, and dry, 10 to 12 minutes. Let stand off heat, without lid but still covered with towel, 5 minutes.