Bring 2 cups water to boil. Meanwhile, rinse quinoa through fine strainer until water runs clear. Add quinoa to boiling water, cover, and reduce to low heat and allow to simmer for 15 to 20 minutes until tender. Once quinoa is done cooking, pour back into strainer. Rinse well with cold water for 1 to 2 minutes. Put quinoa in medium-sized bowl.
Add black beans, cucumber, tomatoes, avocado, and cilantro. Mix well.
In separate small bowl, combine lime juice, balsamic vinegar, olive oil, salt, and pepper. Pour over salad and stir well.
Refrigerate for at least 4 hours or until salad is chilled. Serve and enjoy!