In a medium pot over medium heat, bring the water to a boil; add in the quinoa. Bring the water back to a boil, add the edamame, cover and reduce heat to a simmer. Cook for 20 minutes.
While the quinoa is cooking, combine the dressing ingredients in a small mixing bowl. Whisk to combine the oil, lime juice, honey, Sambal chili paste, ginger, garlic, salt and cilantro. Set aside.
When finished cooking, transfer the quinoa to a large bowl; fluff with a fork and let cool a bit. Then add in the bell pepper, carrots, bok choy and green onions. Toss with the dressing, as much as needed, right before serving.
A protein-packed side dish or entrée, Rainbow Quinoa Salad can be enjoyed at room temperature or chilled.