Place the quinoa along with just under 2 cups water and salt in a medium saucepan. Cover, bring to a boil, then turn to low and simmer 10 minutes.
Add the broccoli, cover and simmer on low an additional 5 minutes. Turn the heat off and allow to sit, covered, for 5 more minutes.
Meanwhile, in a medium bowl, make the peanut sauce by whisking together the peanut butter, garlic, maple syrup, tamari, rice vinegar or lime juice and warm water until very smooth.
Fluff the quinoa and broccoli with a fork. Add the quinoa, broccoli, cabbage, edamame, and carrots to a large bowl. Pour over the peanut sauce and stir to combine.
Top with hot sauce if desired, then serve immediately or store, covered, for up to 5 days.