Rinse the quinoa under cold water and then combine it with vegetable broth in a medium saucepan. Bring to a boil, then reduce heat to low, cover, and simmer for about 15 minutes, or until the quinoa is fluffy and the liquid is absorbed.
In a large skillet, heat the olive oil over medium heat. Add the chopped onion and minced garlic, sautéing until the onion is translucent. Then, add the diced bell peppers and zucchini, cooking until they are tender.
Stir in the chickpeas, cumin, smoked paprika, cayenne pepper, salt, and pepper. Cook for an additional 5 minutes, allowing the flavors to meld. Finally, combine the quinoa with the vegetable mixture, mix well, and serve warm, garnished with fresh cilantro.