Heat a saucepan over medium heat. Add quinoa, season with cinnamon and cook until toasted, stirring frequently, about 3 minutes.
Add almond milk, water, vanilla, maple syrup and sea salt. Bring to a boil, then reduce to low heat and cook until porridge is thick and grains are tender, about 25 minutes.
Add more water if needed. Stir occasionally to prevent burning.
